CN213537164U - Garbage can carrying robot - Google Patents

Abstract

The utility model provides a dustbin transfer robot, including frame, lifting device and grabbing device, but lifting device sets up with the back-and-forth movement on the frame, grabbing device passes through lifting device sets up on the frame, lifting device is used for lifting grabbing device, grabbing device is used for snatching the dustbin. Compared with the prior art, the utility model discloses a dustbin transfer robot can be used for intelligence transport dustbin.

Description

Garbage can carrying robot

Technical Field

The utility model belongs to the technical field of intelligent handling device and specifically relates to indicate a dustbin transfer robot.

Background

In order to solve the above problems, a cleaning method is adopted to collect a full-load garbage can in a placing box of the garbage truck and simultaneously put an empty garbage can, the garbage truck collects the full-load garbage can in a garbage disposal plant, the garbage can is treated in a closed space, and the garbage can is disinfected, so that germs diffusing to the living environment are effectively reduced, in the cleaning method, the full-load garbage can needs to be pushed to the placing box of the garbage truck by a manual method, the empty dustbin in the dustbin is pulled out of the dustbin, the manual method for carrying the dustbin wastes time and labor, and cleaning personnel can contact the rubbish in a short distance and can contact germs to affect the health of the body.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a dustbin transfer robot, can be used for intelligence transport dustbin.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the garbage can carrying robot comprises a frame, a lifting device and a grabbing device, wherein the lifting device is arranged on the frame in a front-back moving mode, the grabbing device is arranged on the frame through the lifting device, the lifting device is used for lifting the grabbing device, and the grabbing device is used for grabbing a garbage can.

Compared with the prior art, the utility model discloses a dustbin transfer robot has following beneficial effect:

(1) the utility model discloses can carry out automatic transport to the dustbin that lies in subaerial on the work ground to replace full-load dustbin to vacant dustbin, and carry full-load dustbin to the garbage truck, intelligent degree is high, and transport speed is fast, reduces the manpower and intervenes, thereby overcomes the intensity of labour that the tradition brought through artifical transport dustbin, inefficiency, cost of labor height and recruitment shortage's problem, effectively reduces the input of manpower resources on the municipal waste treatment, and alleviates the refuse treatment pressure;

(2) the utility model discloses a dustbin transfer robot, it is by the frame, lifting device and the three core part of grabbing device constitute, thereby carry out the modularization with dustbin transfer robot's inner structure and simplify, make the installation of robot, control and maintenance are convenient, thereby reduce the maintenance cost, in addition, dustbin transfer robot during operation, the frame removes and is close to the dustbin, lifting device antedisplacement and lifting grabbing device, utilize grabbing device and the garbage bin outside fixed connection, and the operation is simple, stable and reliable, can avoid the dustbin to take place to turn on one's side in the handling and lead to the rubbish in the dustbin to empty out, and can make dustbin transfer robot transport the dustbin of different specifications through adjusting grabbing device, thereby improve the utility model discloses an application scope.

Preferably, the frame includes the pedestal, and sets up actuating mechanism, power module and control mechanism on the pedestal, the pedestal includes the main part, and the supporting legs that the main part left and right sides extends the formation to the front side, forms the handling district between two supporting legs, power module is used for lifting device, actuating mechanism and control mechanism power supply, actuating mechanism is used for driving the pedestal to remove, control mechanism is used for controlling actuating mechanism work.

The utility model discloses an transfer robot, its frame is "U" font, reasonable structural layout makes whole equipment small, when dustbin transfer robot is in standby state, a plurality of dustbin transfer robot's frame can reduce a plurality of dustbin transfer robot through misplacing and occupy storage space, in addition, the setting up of frame makes dustbin transfer robot's focus more stable, thereby improve the stability when removing and carrying the transported substance, and increase the bearing capacity, improve dustbin transfer robot's handling capacity.

Preferably, the lifting device is arranged on the frame in a manner of being capable of moving back and forth through a first pushing mechanism, the first pushing mechanism comprises a sliding piece, a sliding driving device and a sliding rail, the sliding rail is arranged on the inner side of each supporting foot along the length direction of the supporting foot, two sides of the sliding piece are respectively connected with the two sliding rails in a sliding manner, and the sliding driving device is used for driving the sliding piece to move back and forth along the extending direction of the sliding rail.

Through setting up first push mechanism, make lifting device can be relative the frame back-and-forth movement, the grabbing device of being convenient for snatchs the garbage bin, and in addition, during the transport garbage bin, lifting device is close to the garbage bin to transport district tip (supporting legs) antedisplacement from transport district middle part (being close to main part one side), snatchs after the garbage bin, moves backward to transport district middle part from transport district tip again, moves the garbage bin in the transport district to make garbage bin and dustbin transfer robot's whole focus be located transport district middle part, thereby improve the utility model discloses stability when transport garbage bin removes.

Preferably, the lifting device comprises a lifting mechanism and a sliding block, the grabbing device is arranged on the front end face of the sliding block in a manner of moving back and forth, and the lifting mechanism can drive the sliding block to move up and down.

The lifting device adopts the arrangement mode, and the lifting mechanism is utilized to lift the sliding block, so that the height of the grabbing device arranged on the sliding block relative to the horizontal plane is changed, the grabbing device is always kept parallel to the horizontal plane, and the garbage can is prevented from falling off due to the fact that the garbage can inclines to the left side or the right side.

The utility model provides a following two kinds of lifting mechanism's mode of setting:

the first setting mode of the lifting mechanism is as follows: the lifting mechanism comprises a winch device, a first pulley and a traction piece, the winch device is fixedly connected with the sliding piece, the first pulley is arranged above the sliding block and is fixedly arranged relative to the winch device, one end of the traction piece is connected with the winch device, and the other end of the traction piece winds through the first pulley and is connected with the sliding block.

The second setting mode of the lifting mechanism is as follows: lifting mechanism includes first extensible member, first pulley and pulls the piece, first extensible member is relative slider fixed connection, first pulley setting is in the flexible of first extensible member is served, the stiff end fixed connection who pulls the relative first extensible member of a one end, pull a other end warp first pulley and with the slider is connected.

Above-mentioned lifting mechanism's mode of setting up, spare part is small in quantity, and transmission efficiency is high, and is reliable and stable, and response speed is fast to effectively improve the utility model discloses the efficiency of transport garbage bin.

Further, be equipped with vertical guiding mechanism on the slider, vertical guiding mechanism includes the portal, the portal is located the lifting mechanism outside, the both sides limit of portal is equipped with the guide rail of inside sunken formation, the slider both sides through the second pulley with guide rail sliding connection.

Through setting up vertical guiding mechanism, ensure that the slider is stable reciprocates along the direction of guide rail to improve the stability when dustbin transfer robot original place lifts or puts down the transported substance, in addition, after grabbing device snatchs the transported substance, the slider leans forward, and vertical guiding mechanism can carry on spacingly and provide the holding power to the slider, avoids the slider aversion and impaired, thereby ensures the ability of dustbin transfer robot transport dustbin.

Preferably, the grabbing device is arranged on the sliding block through a second pushing mechanism, the second pushing mechanism comprises a second telescopic piece, the second telescopic piece is arranged on the sliding block, and the grabbing device is arranged at the telescopic end of the second telescopic piece.

Through setting up second push mechanism, make grabbing device can be relative lifting device back-and-forth movement is convenient for snatch the garbage bin that is located the region of placing of different width, increases the utility model discloses a be suitable for the scene, make the utility model discloses can be used in under multiple garbage bin transport scene, reduce the utility model discloses an adjustment degree of difficulty and cost.

Preferably, the second pushing mechanism further comprises a front slide rail, a rear slide rail and a scissor-type connecting rod, wherein the vertical horizontal plane of the front slide rail is arranged on the gripping device, the vertical horizontal plane of the rear slide rail is arranged on the sliding block, two upper end points of the scissor-type connecting rod are fixedly connected with the front slide rail and the rear slide rail respectively, and two lower end points of the scissor-type connecting rod are slidably connected with the front slide rail and the rear slide rail respectively.

The second pushing mechanism is further provided with a front sliding rail, a rear sliding rail and a scissor type connecting rod, the front sliding rail, the rear sliding rail and the scissor type connecting rod are utilized, the grabbing device can extend or retract at the second telescopic part, two lower end points of the scissor type connecting rod respectively slide in the front sliding rail and the rear sliding rail, the scissor type connecting rod is made to extend or retract corresponding to the second telescopic part, the grabbing device is made to move back and forth along the horizontal direction, and the grabbing device can stably grab the garbage can and move the garbage can into a carrying area.

Preferably, the gripping device comprises at least one insertion arm, the insertion arm is provided with an anti-skidding unit and an insertion block, and the insertion block is vertically arranged relative to a horizontal plane; when the lifting device lifts the grabbing device, the insert block moves from the lower part of the garbage can to the upper part of the garbage can and is detachably inserted into the insertion hole on the outer edge of the upper end of the garbage can, and the anti-skid unit is attached to the outer side of the garbage can and close to the garbage can.

Grabbing device simple structure, part low cost, and the jack that inserts arm and garbage bin upper end outer edge is pegged graft to the light grabbing and lift off of realizing grabbing device to the garbage bin, easy operation, the good reliability, in addition, through addding the antiskid unit, can improve the working face non-slip ability of grabbing device and garbage bin contact, make grabbing device stabilize and fixed garbage bin lateral part, ensure lifting, transport, when transferring the transport, grabbing device firmly snatchs the garbage bin, avoid the garbage bin pine to take off to drop and lead to the garbage bin impaired and rubbish to splash over outside the garbage bin.

Drawings

Fig. 1 is a schematic view of a first angle of the present invention;

fig. 2 is a schematic view of a second angle of the present invention;

fig. 3 is a schematic view of a third angle of the present invention;

fig. 4 is a cross-sectional view of the present invention;

fig. 5 is a perspective view of a first angle of the present invention;

fig. 6 is a perspective view of a second angle of the present invention;

FIG. 7 is a perspective view of the present invention when grasping a trash can;

FIG. 8 is a front elevational view of the grasping device;

FIG. 9 is a cross-sectional view of the grasping device;

FIG. 10 is a perspective view of the grasping apparatus grasping the trash;

FIG. 11 is a schematic view of the second embodiment;

FIG. 12 is a front elevational view of the grasping device;

FIG. 13 is a cross-sectional view of the grasping device;

FIG. 14 is a perspective view of the grasping device grasping a trash bin;

FIG. 15 is a schematic diagram of a robot according to a first embodiment after improvement of a lifting mechanism;

FIG. 16 is a cross-sectional view of the lifting mechanism;

FIG. 17 is a schematic view of a lifting mechanism;

fig. 18 is a schematic view of a first angle after the robot of the second embodiment is modified in the lifting mechanism;

fig. 19 is a schematic view of a second angle after the robot of the second embodiment is modified in the lifting mechanism;

FIG. 20 is a cross-sectional view of the garbage truck;

fig. 21 is a sectional view of the first compartment;

fig. 22 is a sectional view of a modification of the first carriage;

FIG. 23 is a schematic view of the robot removing an empty trash bin from the storage cavity;

FIG. 24 is a schematic view of a robot placing a fully loaded waste bin into a vacant cavity;

FIG. 25 is a flowchart of the fifth embodiment;

FIG. 26 is a flowchart of a sixth embodiment;

FIG. 27 is a first state diagram of the robot transferring the trash can to the trash placement area;

FIG. 28 is a second state diagram of the robot transferring the trash can to the trash placement area;

FIG. 29 is a third state diagram of the robot transferring the trash can to the trash placement area;

FIG. 30 is a fourth state diagram of the robot transferring the trash can to the trash placement area;

FIG. 31 is a fifth state diagram of the robot transferring the trash can to the trash placement area;

FIG. 32 is a sixth state diagram of the robot transferring the trash can to the trash placement area;

fig. 33 is a seventh state diagram of the robot transferring the trash can to the trash placement area.

Description of reference numerals:

1 garbage can transfer robot, 10 frames, 11 bodies, 12 beams, 13 fixed plates, 14 hoods, 15 supporting feet, 16 slide rails, 17 transfer areas, 18 driving devices, 181 driving wheels, 182 directional wheels, 183 universal wheels, 19 power supply modules, 2 sliders, 21 rollers, 22 slide driving devices, 3 lifting devices, 31 sliders, 311 front plates, 312 side plates, 313 second pulleys, 32 winch devices, 321 first pulleys, 322 traction members, 33 first telescopic members, 4 door frames, 40 guide rails, 41 first door frames, 42 second door frames, 43 connecting members, 44 risers, 5 second pushing mechanisms, 51 second telescopic members, 52 front slide rails, 53 rear slide rails, 54 scissor type connecting rods, 6 grabbing devices, 61 connecting plates, 62 insertion blocks, 63 mounting plates, 64 connecting rods, 65 antiskid units, 7 tractors, 71 first carriages, 72 box collecting areas, 73 first opening and closing doors, 74 partition plates, 75 deposit chamber, 76 vacancy chamber, 8 second carriage, 81 robot placing area, 82 second opening and closing door, 9 rubbish placing area, 91 empty dustbin, 92 full dustbin.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings:

example one

Referring to fig. 1 to 7, a garbage can transporting robot 1 of the present embodiment includes a frame 10, a lifting device 3 and a gripping device 6, wherein the lifting device 3 is disposed on the frame 10 in a back and forth movable manner, the gripping device 6 is disposed on the frame 10 through the lifting device 3, the lifting device 3 is used for lifting the gripping device 6, and the gripping device 6 is used for being selectively and fixedly connected with the outside of a garbage can.

Referring to fig. 1 to 7, the vehicle frame 10 includes a seat body, and a driving mechanism, a power supply module 19 and a control mechanism (not shown in the figure) disposed on the seat body, where the seat body includes a main body 11, and supporting legs 15 formed by extending left and right sides of the main body 11 to the front side, a carrying area 17 is formed between the two supporting legs 15, the power supply module 19 is configured to supply power to the lifting device 3, the driving mechanism and the control mechanism, the driving mechanism is configured to drive the seat body to move, and the control mechanism is configured to control the driving mechanism to operate.

The utility model discloses an transfer robot, its frame 10 is "U" font, reasonable structural layout makes whole equipment small, when dustbin transfer robot 1 is in standby state, frame 10 of a plurality of dustbin transfer robot 1 can reduce the occupation of a plurality of dustbin transfer robot 1 to storage space through dislocation placement, in addition, frame 10's setting makes dustbin transfer robot 1's focus more stable, thereby stability when improving removal and transport, and increase bearing capacity, improve dustbin transfer robot 1's handling capacity.

Referring to fig. 1 to 7, in particular, the driving mechanism includes a driving device 18, a driving wheel 181 and a driven wheel, the driven wheel includes two directional wheels 182 and a universal wheel 183, the two directional wheels 182 are disposed on the supporting foot 15, the universal wheel 183 and the driving wheel 181 are respectively disposed on the left and right sides of the main body 11, and the driving device 18 is configured to drive the driving wheel 181 to move.

Referring to fig. 1 to 7, the main body 11 includes a cross beam 12 and a fixing plate 13, the fixing plate 13 is disposed above the cross beam 12 for mounting a driving device 18, the universal wheel 183 and the driving wheel 181 are disposed below the fixing plate 13, and two supporting legs 15 are respectively disposed on the left and right sides of the cross beam 12; the main body 11 is arranged in the above manner, so that the center of gravity of the frame 10 can be shifted to one side of the driving wheel 181 (behind the frame 10), and the problem that the center of gravity of the garbage can transferring robot 1 is shifted too far to the front of the frame 10 to affect the normal movement of the garbage can transferring robot 1 when the garbage can transferring robot 1 transfers garbage cans is avoided.

Specifically, the power supply module 19 and the control mechanism are arranged above the connecting position of the cross beam 12 and the two supporting legs 15, and the arrangement mode enables the arrangement of parts to be more compact, so that the space occupied by the garbage can carrying robot 1 is reduced, and the garbage can carrying robot 1 is convenient to transport.

Referring to fig. 1 to 7, in particular, the main body 11 is provided with a hood 14, and the driving device 18, the power supply module 19 and the control mechanism are disposed in the hood 14, so as to provide an isolation function and prevent the driving device 18, the power supply module 19 and the control mechanism from adhering to pollutants in an external environment.

Referring to fig. 1 to 7, the lifting device 3 is arranged on the frame 10 in a manner of being capable of moving back and forth through a first pushing mechanism, the first pushing mechanism includes a sliding member 2, a sliding driving device 22, and a sliding rail 16 arranged along the length direction of each supporting foot 15 inside each supporting foot 15, two sides of the sliding member 2 are respectively connected with the two sliding rails 16 in a sliding manner, and the sliding driving device 22 is used for driving the sliding member 2 to move back and forth along the extending direction of the sliding rail 16.

Through setting up first push mechanism, make lifting device 3 can be relative frame 10 back-and-forth movement, the grabbing device 6 of being convenient for snatchs the garbage bin, and in addition, during the transport garbage bin, lifting device 3 is close to the garbage bin from transport district 17 middle part (being close to main part 11 one side) to transport district 17 tip (supporting legs 15) antedisplacement, snatchs after the garbage bin, moves backward to transport district 17 middle part from transport district 17 tip again, moves the garbage bin to transport in the district 17 to make garbage bin and garbage bin transfer robot 1's whole focus be located transport district 17 middle part, thereby improve the utility model discloses stability when transport garbage bin removes.

Specifically, the sliding member 2 is slidably connected to the sliding rail 16 through rollers 21 disposed at the front and rear sides.

Referring to fig. 1 to 7, the lifting device 3 includes a lifting mechanism and a slide 31, the gripping device 6 is disposed on a front end surface of the slide 31 to move back and forth, and the lifting mechanism can drive the slide 31 to move up and down.

The lifting device 3 adopts the arrangement mode, the sliding block 31 is lifted by the lifting mechanism, so that the height of the grabbing device 6 arranged on the sliding block 31 relative to the horizontal plane is changed, the grabbing device 6 is always kept parallel to the horizontal plane, and the garbage can is prevented from falling off due to the inclination to the left side or the right side.

Referring to fig. 1 to 7, the lifting mechanism includes a winding device 32, a first pulley 321, and a traction member 322, the winding device 32 is fixedly connected to the sliding member 2, the first pulley 321 is disposed above the sliding block 31 and is fixedly disposed to the winding device 32, one end of the traction member 322 is connected to the winding device 32, and the other end of the traction member 322 passes around the first pulley 321 and is connected to the sliding block 31.

Above-mentioned lifting mechanism's mode of setting up, spare part is small in quantity, and transmission efficiency is high, and is reliable and stable, and response speed is fast to effectively improve the utility model discloses the efficiency of transport garbage bin.

In particular, the pulling member 322 is a lifting belt.

Referring to fig. 1 to 7, a vertical guide mechanism is arranged on the sliding member 2, the vertical guide mechanism includes a gantry 4, the gantry 4 is located outside the lifting mechanism, guide rails 40 formed by inward recessing are arranged on two side edges of the gantry 4, and two sides of the sliding block 31 are slidably connected with the guide rails 40 through second pulleys 313.

Through setting up vertical guiding mechanism, ensure that slider 31 steadily reciprocates along guide rail 40's direction to improve the stability when dustbin transfer robot 1 lifts in situ or puts down the transported object, in addition, after grabbing device 6 snatchs the transported object, slider 31 slopes forward, and vertical guiding mechanism can carry on spacingly and provide the holding power to slider 31, avoids slider 31 aversion and impaired, thereby ensures the ability of dustbin transfer robot 1 transport dustbin.

Specifically, the winding device 32 is disposed on the gantry 4, and the first pulley 321 is disposed at the upper end of the gantry 4.

Referring to fig. 1 to 7, in particular, the door frame 4 includes a first door frame 41 and a second door frame 42, and the first door frame 41 and the second door frame 42 are correspondingly disposed on the left and right sides of the sliding member 2; a connecting piece 43 is arranged between the first door frame 41 and the second door frame 42, and two ends of the connecting piece 43 are respectively connected with the upper ends of the first door frame 41 and the second door frame 42; the door frame 4 is simple in structure and convenient to assemble and produce.

Referring to fig. 1 to 7, specifically, the sliding block 31 includes a front plate 311 and two side plates 312, the two side plates 312 are oppositely disposed on two sides of the front plate 311 and located in the guide rail 40, the second pulley 313 is disposed on the side plates 312, two second pulleys 313 arranged up and down are disposed on a single side plate 312, and the rear side of the front plate 311 is connected with the inner sides of the side plates 312 through a fixing beam; the sliding block 31 adopts the arrangement mode, so that the sliding block 31 is prevented from being separated from the portal 4, and the connection strength of the sliding block 31 and the portal 4 is improved.

Referring to fig. 8 to 10, the gripping device 6 is disposed on the slide block 31 through a second pushing mechanism 5, the second pushing mechanism 5 includes a second telescopic member 51, the second telescopic member 51 is disposed on the slide block 31, and the gripping device 6 is disposed on a telescopic end of the second telescopic member 51.

Through setting up second push mechanism 5, make grabbing device 6 can be relative lifting device 3 back-and-forth movements are convenient for snatch the garbage bin that is located the region of placing of different width, increase the utility model discloses a be suitable for the scene, make the utility model discloses can be used in under multiple garbage bin transport scene, reduce the utility model discloses an adjustment degree of difficulty and cost.

Referring to fig. 8 to 10, the second pushing mechanism 5 further includes a front slide rail 52, a rear slide rail 53, and a scissor type link 54, the front slide rail 52 is vertically and horizontally disposed on the gripping device 6, the rear slide rail 53 is vertically and horizontally disposed on the slide block 31, two upper end points of the scissor type link 54 are respectively fixedly connected with the front slide rail 52 and the rear slide rail 53, and two lower end points of the scissor type link 54 are respectively slidably connected with the front slide rail 52 and the rear slide rail 53.

Referring to fig. 8 to 10, the second pushing mechanism 5 is further provided with a front slide rail 52, a rear slide rail 53 and a scissor type connecting rod 54, and by using the front slide rail 52, the rear slide rail 53 and the scissor type connecting rod 54, when the second extensible member 51 of the grabbing device 6 is extended or retracted, two lower end points of the scissor type connecting rod 54 respectively slide in the front slide rail 52 and the rear slide rail 53, so that the scissor type connecting rod 54 is extended or retracted corresponding to the second extensible member 51, and the grabbing device 6 is stably moved back and forth along the horizontal direction, so that the grabbing device 6 can stably grab the trash can and move the trash can into the carrying area 17.

Referring to fig. 8 to 10, the gripping device 6 includes a connecting plate 61 and an insertion arm, the connecting plate 61 is connected to the second pushing mechanism 5, the front slide rail 52 is disposed on the connecting plate 61, the insertion arm includes a mounting plate 63, and an anti-slip unit 65 and an insertion block 62 disposed on the mounting plate 63, a rear side of the mounting plate 63 is connected to the connecting plate 61 through a plurality of connecting rods 64, and the insertion block 62 is vertically disposed with respect to a horizontal plane; when the lifting device 3 lifts the gripping device 6, the inserting block 62 moves from the lower part of the garbage can to the upper part of the garbage can and is detachably inserted into an inserting hole (not shown in the figure) on the outer edge of the upper end of the garbage can, and the anti-skid unit 65 is close to the garbage can along with the inserting block 62 and is tightly attached to the outer side of the garbage can.

Grabbing device 6 simple structure, part low cost, and the jack that inserts arm and garbage bin upper end outer edge is pegged graft to the light grabbing and lift off of realizing grabbing device 6 to the garbage bin, easy operation, the good reliability, in addition, through addding anti-skidding unit 65, can improve the working face non-skid property of grabbing device 6 and garbage bin contact, make grabbing device 6 stabilize and fixed garbage bin lateral part, ensure lifting, the transport, when transferring the transport, grabbing device 6 firmly snatchs the garbage bin, avoid the garbage bin pine to take off to drop and lead to the garbage bin impaired and rubbish to splash over outside the garbage bin.

Referring to fig. 8 to 10, in particular, three insertion blocks 62 are provided, and the three insertion blocks 62 are equidistantly arranged on the upper portion of the outer end surface of the mounting plate 63.

Specifically, a distance sensor (not shown in the figure) is arranged on the gripping device 6, and the distance sensor is used for detecting the distance between the gripping device 6 and the dustbin.

Specifically, the antiskid units 65 are vertically arranged in two, and the antiskid units 65 are rubber blocks.

Specifically, the second extensible member 51 is a hydraulic cylinder, the extensible end of the second extensible member 51 is hinged to the connecting plate 61, and the fixed end of the second extensible member 51 is hinged to the sliding block 31.

Specifically, the front slide rail 52, the rear slide rail 53 and the scissor type connecting rod 54 are respectively provided with two, the two front slide rails 52 are arranged on two sides of the connecting plate 61, the two rear slide rails 53 are arranged on two sides of the sliding block 31, and the scissor type connecting rod 54 is arranged corresponding to the front slide rails 52 and the rear slide rails 53.

The vehicle-mounted navigation system further comprises a navigation induction mechanism (not shown in the figure), wherein the navigation induction mechanism is one of a magnetic point navigation device, a magnetic guide rail navigation device, a visual navigation device, a laser navigation device, an infrared navigation device, an ultrasonic navigation device and a two-dimensional code navigation device, the navigation induction mechanism is arranged on the vehicle frame 10 or the lifting device 3, the navigation induction mechanism is in communication connection with the control mechanism, and the power supply module 19 is electrically connected with the navigation induction mechanism;

if the navigation induction mechanism is one of a magnetic point navigation device, a magnetic guide rail navigation device and a two-dimensional code navigation device, the garbage can is provided with related markers for induction.

Example two

Referring to fig. 11 to 14, the present embodiment is a modification of the first embodiment, and the present embodiment is different from the first embodiment in the arrangement manner of the gripping device 6.

The grabbing device 6 comprises a connecting plate 61 and two inserting arms, the connecting plate 61 is connected with the second pushing mechanism 5, the front sliding rail 52 is arranged on the connecting plate 61, the two inserting arms are oppositely arranged on two sides of the connecting plate 61, the distance between the two inserting arms is matched with the distance between the left side wall and the right side wall of the upper portion of the garbage can, each inserting arm comprises an installing plate 63, the rear side of each installing plate 63 is connected with the connecting plate 61 through a plurality of connecting rods 64, the length of each connecting rod 64 is not more than the distance between the front side wall and the rear side wall of the upper portion of the garbage can, one side of each installing plate 63, opposite to the other installing plate 63, is provided with an anti-skidding unit 65 and an inserting block 62, the inserting block 62 is vertically arranged relative to the horizontal plane; when the lifting device 3 lifts the grabbing device 6, the inserting block 62 moves from the lower part of the garbage can to the upper part of the garbage can and is detachably inserted into the inserting hole on the outer edge of the upper end of the garbage can, and the anti-skid unit 65 is attached to the outer side of the garbage can and close to the garbage can along with the inserting block 62.

Specifically, two antiskid units 65 are provided.

EXAMPLE III

The present embodiment is a modification of the first embodiment or the second embodiment, and the present embodiment is different from the first embodiment or the second embodiment in the arrangement manner of the lifting mechanism.

Referring to fig. 15 to 17, as a modification of the first embodiment, the lifting mechanism includes a first telescopic member 33, a first pulley 321 and a traction member 322, the first telescopic member 33 is fixedly connected with respect to the sliding member 2, the first pulley 321 is disposed at a telescopic end of the first telescopic member 33, one end of the traction member 322 is fixedly connected with respect to a fixed end of the first telescopic member 33, and the other end of the traction member 322 passes around the first pulley 321 and is connected with the slider 31.

In this embodiment, the rear ends of the first door frame 41 and the second door frame 42 are connected by a vertical plate 44, and one end of the traction member 322 is fixedly connected to the vertical plate 44, so that one end of the traction member 322 is fixedly connected to the door frame 4.

Specifically, the pulling element 322 is a chain.

Specifically, the number of the first pulleys 321 and the number of the traction members 322 are two, the two first pulleys 321 are arranged on the first telescopic member 33 in parallel, and the free ends of the two traction members 322 are respectively connected to two sides of the sliding block 31 after being wound around the corresponding first pulleys 321.

Through setting up two first pulley 321 with draw the piece 322, can lift the slider 31 left and right sides respectively to improve the stability when slider 31 reciprocates, ensure that can be stably lifted by hoisting device 3 behind the empty dustbin 91 of clamping device centre gripping.

Referring to fig. 18 to 19, the drawings show schematic views of a waste bin transporting robot 1 in which the original lifting mechanism is replaced with the lifting mechanism in the second embodiment.

Compared with the prior art, the utility model discloses a dustbin transfer robot 1 has following beneficial effect:

(1) the utility model discloses can carry out automatic transport to the dustbin that lies in subaerial on the work ground to replace full-load dustbin 92 to vacant dustbin 91, and carry full-load dustbin 92 to the garbage truck on, intelligent degree is high, and transport speed is fast, reduces the manpower and intervenes, thereby it is big to overcome the intensity of labour that traditional brings through artifical transport dustbin, the problem of inefficiency, the cost of labor is high and the recruitment is in short supply, effectively reduce the input of manpower resources on the municipal waste treatment, and alleviate the refuse treatment pressure;

(2) the utility model discloses a dustbin transfer robot 1, it is by frame 10, lifting device 3 and the three core part of grabbing device 6 are constituteed, thereby carry out the modularization with dustbin transfer robot 1's inner structure and simplify, make the installation of robot, control and maintenance convenience, thereby reduce the maintenance cost, in addition, dustbin transfer robot 1 during operation, frame 10 removes and is close to the dustbin, lifting device 3 antedisplacement and lifting grabbing device 6, utilize grabbing device 6 and the garbage bin outside fixed connection, moreover, the operation is simple, and is stable and reliable, can avoid the dustbin to take place to turn on one's side in the handling and lead to the rubbish of dustbin to empty out, and can make dustbin transfer robot 1 carry the dustbin of different specifications through adjustment grabbing device 6, thereby improve the utility model discloses an application scope.

Example four

Referring to fig. 18 to 21, 23 and 24, another object of the present invention is to provide a garbage can transporting device using the above garbage can transporting robot 1, which includes a garbage truck and the garbage can transporting robot 1, wherein the garbage truck includes a towing vehicle 7, a first carriage 71 and a second carriage 8, and the first carriage 71 and the second carriage 8 are sequentially connected to the towing vehicle 7.

The first compartment 71 is internally provided with a box collecting area 72 with two open sides, two sides of the first compartment 71 are provided with first opening and closing doors 73 for selectively closing the box collecting area 72, the first opening and closing doors 73 are opened in an upturning mode, a plurality of partition plates 74 are arranged in the box collecting area 72, the box collecting area 72 is divided into a plurality of storage cavities 75 by the partition plates 74, and the storage cavities 75 are used for placing garbage boxes.

Through set up a plurality of chambeies 75 of depositing in first railway carriage or compartment 71 and supply the dustbin to place to play the positioning action to the dustbin, avoid a plurality of dustbin in box collecting region 72 to take place to rock at the garbage truck removal in-process and lead to the offset, influence the speed that dustbin transfer robot 1 carried the dustbin.

Referring to fig. 22, as a modification of the first carriage 71, a plurality of partition plates 74 are arranged in the box collecting area 72, the box collecting area 72 is divided into a plurality of storage chambers 75 and a vacant chamber 76 by the plurality of partition plates 74, and the storage chambers 75 and the vacant chamber 76 are used for placing the garbage boxes. The vacancy chamber 76 is additionally arranged, so that when a plurality of garbage cans are stored in the single storage chamber 75, the vacancy chamber 76 can be used as a buffer space for the garbage can transfer robot 1 to store part of the garbage cans in the vacancy chamber 76, so that the garbage cans in the deep position of the storage chamber 75 can be taken out, and the speed of transferring the garbage cans by the garbage can transfer robot 1 is improved.

The robot that is equipped with the rear side opening in the second carriage 8 places the district 81, second carriage 8 rear side is equipped with second door 82 that opens and shuts and seals with the selectivity the district 81 is placed to the robot, the following mode of turning over of second door 82 that opens and shuts is opened, dustbin transfer robot 1 is located the robot is placed in the district 81.

Compared with the prior art, the utility model discloses a dustbin handling device utilizes the garbage truck storage and transports the dustbin to and utilize dustbin transfer robot 1 to replace full-load dustbin 92 into vacant dustbin 91, realize the intelligent transport of dustbin, thereby realize the unmanned transportation of rubbish, intelligent degree is high, and transport speed is fast, reduces the manpower and intervenes, effectively reduces the input of manpower resources on the municipal refuse treatment, and alleviates refuse treatment pressure.

EXAMPLE five

Referring to fig. 25, 27 to 33, another object of the present invention is to provide a method for transporting a garbage can of a garbage can transporting device, comprising the steps of:

(a1) the garbage truck moves to a working area, and the garbage can carrying robot 1 moves from the garbage truck to the working area;

(a2) the garbage can transfer robot 1 carries out the empty garbage can 91 from the can collecting area 72 and approaches the garbage placing area 9;

(a3) the trash can-handling robot 1 removes the full-load trash can 92 from the trash placing area 9;

(a4) the garbage can transfer robot 1 puts the empty garbage can 91 into the garbage placing area 9;

(a5) the garbage can transfer robot 1 transfers the full-load garbage can 92 into the can collecting area 72;

(a6) repeating the steps (a2) to (a5) until the trash can carrying robot 1 replaces all the full-loaded trash cans 92 in the trash placing area 9 with the empty trash cans 91; the garbage can transporting robot 1 moves from the work area back to the garbage truck.

The step (a2) includes the steps of:

(a2.1) the garbage can transfer robot 1 moves to the storage cavity 75 of the box body collecting area 72 and is positioned on the periphery side of the empty garbage can 91;

(a2.2) the lifting device 3 works to enable the grabbing device 6 to be connected with the outer edge of the upper end of the empty garbage can;

(a2.3) the garbage can transporting robot 1 is close to the side part of the garbage placing area 9;

(a2.4) the lifting means 3 is operated to release the gripping means 6 from the connection with the empty waste bin 91, and the empty waste bin 91 is placed at the current position.

By the aid of the carrying mode, the garbage can carrying robot 1 is ensured to keep a certain distance with the empty garbage can 91 before carrying the empty garbage can 91, and the garbage can carrying robot 1 is prevented from being too close to an empty garbage can, so that the garbage can carrying robot 1 bumps and scrapes the empty garbage can to influence carrying of the empty garbage can 91.

Further, step (a2.2) comprises the steps of:

(a2.2.1) the lifting device 3 is moved forward into the storage chamber 75 and close to the side of the empty bin 91;

(a2.2.2) the lifting device 3 lifts the gripping device 6, so that the gripping device 6 moves from the lower part of the empty garbage can 91 to the upper part of the empty garbage can and is connected with the outer edge of the upper end of the empty garbage can;

(a2.2.3) the lifting device 3 is returned to the rear position with the empty waste bin 91 in the transport zone 17.

In the above carrying manner, after the empty garbage can 91 is gripped by the gripping device 6, the empty garbage can 91 is located in the carrying area 17 by moving backward, on one hand, the whole garbage can 91 is protected by the garbage can carrying robot 1, the empty garbage can 91 is prevented from being overturned by the impact of foreign objects, and in addition, the whole gravity center of the empty garbage can 91 and the whole gravity center of the garbage can carrying robot 1 can be shifted to the middle of the carrying area 17, so that the stability of the garbage can carrying robot 1 during moving is improved.

Further, step (a2.4) comprises the steps of:

(a2.4.1) the lifting device 3 moves forward;

(a2.4.2) the lifting device 3 descends, the grabbing device 6 is disconnected from the empty dustbin 91, and the empty dustbin 91 is placed at the current position;

(a2.4.3) resetting the gripping device 6 and the lifting device 3.

According to the carrying mode, the grabbing device 6 and the lifting device 3 reset after the carrying task is completed, on one hand, the center of gravity of the garbage can carrying robot 1 is enabled to shift towards the middle of the carrying area 17, the stability of the garbage can carrying robot 1 in the moving process is improved, and therefore the moving speed is improved, on the other hand, the grabbing device 6 and the lifting device 3 can be protected by the whole garbage can carrying robot 1, and the grabbing device 6 and the lifting device 3 are prevented from colliding with foreign objects.

The step (a3) includes the steps of:

(a3.1) the garbage can-handling robot 1 approaching the side of the fully loaded garbage can 92 located in the garbage-placing area 9;

(a3.2) the lifting device 3 works to connect the gripping device 6 with the outer edge of the upper end of the full-load garbage can;

(a3.3) the garbage can transfer robot 1 moves to the side of the garbage placing area 9 opposite to the empty garbage can 91;

(a3.4) the lifting means 3 is operated to release the gripping means 6 from the connection with the full dustbin 92, the full dustbin 92 being placed in the current position.

In the carrying manner, the empty garbage can 91 and the full garbage can 92 are respectively placed on two opposite sides of the garbage placing area 9, so that enough space is reserved among the garbage placing area 9, the empty garbage can 91 and the full garbage can 92 for the garbage can carrying robot 1 to carry, the empty garbage can 91 and the full garbage can 92 are prevented from being collided by the garbage can carrying robot 1, and the full garbage can 92 can be smoothly replaced by the empty garbage can 91 by the garbage can carrying robot 1.

Further, step (a3.2) comprises the steps of:

(a3.2.1) the lifting device 3 moves forward close to the side of the fully loaded waste bin 92;

(a3.2.2) the lifting device 3 lifts the gripping device 6, so that the gripping device 6 moves from the lower part of the full-load garbage can 92 to the upper part of the full-load garbage can and is connected with the outer edge of the upper end of the full-load garbage can;

(a3.2.3) the lifting device 3 is reset back so that the full bin 92 is located in the transport zone 17.

Above-mentioned transport mode, grabbing device 6 snatchs the back of full load dustbin 92, moves backward and makes full load dustbin 92 be located the transport zone 17, on the one hand to utilize the whole of dustbin transfer robot 1 to play the guard action to full load dustbin 92, avoid full load dustbin 92 to receive the foreign object striking and topple, in addition, can make the whole focus of full load dustbin 92 and dustbin transfer robot 1 both to squint to the middle part of transport zone 17, stability when improving dustbin transfer robot 1 and removing

Further, step (a3.4) comprises the steps of:

(a3.4.1) the lifting device 3 moves forward;

(a3.4.2) the lifting device 3 is lowered, the gripping device 6 is disconnected from the fully loaded dustbin 92, and the fully loaded dustbin 92 is placed at the current position;

(a3.4.3) the gripping means 6 and the lifting means 3 are reset.

The step (a4) includes the steps of:

(a4.1) the garbage can transfer robot 1 approaches the empty garbage can 91;

(a4.2) the lifting device 3 works to enable the grabbing device 6 to be connected with the outer edge of the upper end of the empty garbage can;

(a4.3) the garbage can transporting robot 1 moves to the garbage placing area 9;

(a4.4) the lifting device 3 works to release the connection between the grabbing device 6 and the empty garbage can 91, and the empty garbage can 91 is placed at the current position;

(a4.5) the garbage can transporting robot 1 exits the garbage placing area 9.

Further, step (a4.2) comprises the steps of:

(a4.2.1) the lifting device 3 moves forward close to the side of the empty dustbin 91;

(a4.2.2) the lifting device 3 lifts the gripping device 6, so that the gripping device 6 moves from the lower part of the empty garbage can 91 to the upper part of the empty garbage can and is connected with the outer edge of the upper end of the empty garbage can;

(a4.2.3) the lifting device 3 is returned to the rear, so that the empty waste bin 91 is located in the transport zone 17.

Further, step (a4.4) comprises the steps of:

(a4.4.1) the lifting device 3 moves forward;

(a4.4.2) the lifting device 3 descends, the grabbing device 6 is disconnected from the empty garbage can 91, and the empty garbage can 91 is placed at the current position;

(a4.4.3) resetting the gripping device 6 and the lifting device 3.

The step (a5) includes the steps of:

(a5.1) the garbage can-handling robot 1 approaches the fully loaded garbage can 92;

(a5.2) the lifting device 3 works to connect the gripping device 6 with the outer edge of the upper end of the full-load garbage can;

(a5.3) the garbage can transfer robot 1 moves to the can collecting area 72;

(a5.6) the lifting means 3 is operated to place the fully loaded waste bin 92 into the storage chamber 75 where the bin collection area 72 is empty.

Further, step (a5.2) comprises the steps of:

(a5.2.1) the lifting device 3 moves forward close to the side of the fully loaded waste bin 92;

(a5.2.2) the lifting device 3 lifts the gripping device 6, so that the gripping device 6 moves from the lower part of the full-load garbage can 92 to the upper part of the full-load garbage can and is connected with the outer edge of the upper end of the full-load garbage can;

(a5.2.3) the lifting device 3 is reset back so that the full bin 92 is located in the transport zone 17.

Specifically, in step (a5.6), the lifting device 3 is lowered and the gripping device 6 is disconnected from the fully loaded waste bin 92.

Specifically, the storage chamber 75 and the dustbin are provided with markers, and the dustbin transfer robot 1 can identify whether the storage chamber 75 is filled with the dustbin and whether the dustbin is a fully loaded dustbin or an empty dustbin according to the identification markers.

EXAMPLE six

Referring to fig. 26 to 33, as a modification of the sixth embodiment, when the storage chamber 75 of the bin collecting area 72 of the garbage truck is in the initial state, at least two or more empty garbage bins 91 are stored.

A method for carrying a dustbin of a dustbin carrying device comprises the following steps:

(b1) the garbage truck moves to a working area, and the garbage can carrying robot 1 moves from the garbage truck to the working area;

(b2) the garbage can transfer robot 1 carries out the empty garbage can 91 from the can collecting area 72 and approaches the garbage placing area 9;

(b3) the trash can-handling robot 1 removes the full-load trash can 92 from the trash placing area 9;

(b4) the garbage can transfer robot 1 puts the empty garbage can 91 into the garbage placing area 9;

(b5) the garbage can transfer robot 1 transfers the full-load garbage can 92 into the vacant cavity 76 of the box collecting area 72;

(b6) repeating the steps (b2) to (b5), directly reaching the bin collecting area 72, wherein at most one empty bin 91 is stored in one of the storage cavities 75 or all full-loaded bins 92 in the trash placing area 9 are replaced with empty bins 91, if all full-loaded bins 92 in the trash placing area 9 have been replaced with empty bins 91, the trash bin transporting robot 1 moves from the working area back to the trash car, otherwise, the step (b7) is carried out;

(b7) the garbage can transfer robot 1 carries out the empty garbage can 91 from the storage chamber 75 of the can collecting area 72 and approaches the garbage placing area 9;

(b8) the trash can-handling robot 1 removes the full-load trash can 92 from the trash placing area 9;

(b9) the garbage can transfer robot 1 puts the empty garbage can 91 into the garbage placing area 9;

(b10) the garbage can transfer robot 1 transfers the garbage can 92 into the empty storage chamber 75 of the can collecting area 72 or the storage chamber 75 which stores at least one full garbage can 92 and is not full;

(b11) repeating the steps (b7) to (b10) until the garbage can carrying robot 1 replaces all the full garbage cans 92 in the garbage placing area 9 with the empty garbage cans 91; the garbage can transporting robot 1 moves from the work area back to the garbage truck.

In the carrying method, when a plurality of garbage cans are stored in the single storage cavity 75, the vacant cavity 76 is used as a buffer space for the garbage can carrying robot 1 to store a part of the garbage cans into the vacant cavity 76, so that the garbage cans in the deep position of the storage cavity 75 can be taken out, and the speed of carrying the garbage cans by the garbage can carrying robot 1 can be increased.

Specifically, markers are arranged on the storage cavity 75, the vacancy cavity 76 and the garbage can, and the garbage can transfer robot 1 can acquire the positions of the vacancy cavity 76 and the storage cavity 75 according to the identification markers, calculate the number of the garbage cans in the storage cavity 75, identify whether the storage cavity 75 is filled with the garbage can, and identify whether the garbage can is a full-load garbage can or an empty garbage can.

In this embodiment, (b2) is the same as (b7), (b3) is the same as (b8), (b4) is the same as (b9), and (b2), (b3) and (b4) are the same as (a2), (a3) and (a4) in the fifth embodiment, so that (b2), (b3), (b4), (b7), (b8) and (b9) will not be described in detail here.

The step (b5) includes the steps of:

(b5.1) the garbage can-handling robot 1 approaches the fully loaded garbage can 92;

(b5.2) the lifting device 3 works to connect the gripping device 6 with the outer edge of the upper end of the full-load garbage can;

(b5.3) the garbage can transfer robot 1 moves to the can collecting area 72;

(b5.4) the lifting means 3 is operated to place the fully loaded waste bin 92 into the vacant cavity 76 of the bin collection area 72.

Further, the step (b5.2) comprises the following steps:

(b5.2.1) the lifting device 3 moves forward close to the side of the fully loaded dustbin 92;

(b5.2.2) the lifting device 3 lifts the gripping device 6, so that the gripping device 6 moves from the lower part of the full-load garbage can 92 to the upper part of the full-load garbage can and is connected with the outer edge of the upper end of the full-load garbage can;

(b5.2.3) the lifting device 3 is reset backwards, so that the full-load dustbin 92 is positioned in the carrying area 17;

further, in step (b5.4), the gripping device 6 is disconnected from the fully loaded waste bin 92, and the fully loaded waste bin 92 is placed in the vacant cavity 76 of the bin collection area 72.

Compared with the prior art, the utility model discloses a dustbin handling method of dustbin handling device utilizes the garbage truck storage and transports the dustbin to and utilize dustbin transfer robot 1 to replace full-load dustbin 92 into vacant dustbin 91, realize the intelligent transport of dustbin, thereby realize the unmanned transportation of rubbish, the equipment that applies has low cost, easy operation, occupation space is few, good to the dustbin protectiveness, advantages such as operation object and operation scene restriction are few, just the utility model discloses a dustbin handling method of dustbin handling device, the flexibility is strong, the operating speed is fast, the volume of transporting is big, the good reliability, is convenient for use widely on a large scale.

Variations and modifications to the above-described embodiments may also occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (9)

1. The garbage can carrying robot is characterized by comprising a frame, a lifting device and a grabbing device, wherein the lifting device is arranged on the frame in a front-and-back movement mode, the grabbing device is arranged on the frame through the lifting device, the lifting device is used for lifting the grabbing device, and the grabbing device is used for grabbing a garbage can;

the frame includes the pedestal, and sets up actuating mechanism, power module and control mechanism on the pedestal, the pedestal includes the main part, and the supporting legs that the main part left and right sides extends formation to the front side form the handling district between two supporting legs, power module is used for lifting device, actuating mechanism and control mechanism power supply, actuating mechanism is used for driving the pedestal and removes, control mechanism is used for controlling actuating mechanism work.

2. The garbage can carrying robot as claimed in claim 1, wherein the lifting device is arranged on the frame movably back and forth by a first pushing mechanism, the first pushing mechanism comprises a sliding part and a sliding driving device, and a sliding rail is arranged on the inner side of each supporting foot along the length direction of the supporting foot, two sides of the sliding part are respectively connected with the two sliding rails in a sliding manner, and the sliding driving device is used for driving the sliding part to move back and forth along the extending direction of the sliding rail.

3. The garbage can carrying robot according to claim 2, wherein the lifting means includes a lifting mechanism and a slider, the gripping means is provided on a front end surface of the slider to be movable back and forth, and the lifting mechanism drives the slider to move up and down.

4. The trash can handling robot of claim 3, wherein the lifting mechanism includes a hoist device fixedly connected with respect to the sliding member, a first pulley disposed above the sliding block and fixedly disposed with respect to the hoist device, and a traction member having one end connected with the hoist device and the other end wound around the first pulley and connected with the sliding block.

5. A garbage handling robot according to claim 3, wherein the lifting mechanism comprises a first telescopic member, a first pulley and a traction member, the first telescopic member is fixedly connected with respect to the sliding member, the first pulley is disposed on a telescopic end of the first telescopic member, one end of the traction member is fixedly connected with respect to a fixed end of the first telescopic member, and the other end of the traction member is wound around the first pulley and connected with the sliding block.

6. The garbage can carrying robot as claimed in claim 3, wherein the sliding member is provided with a vertical guide mechanism, the vertical guide mechanism comprises a gantry, the gantry is located outside the lifting mechanism, two sides of the gantry are provided with guide rails formed by inward recessing, and two sides of the sliding block are slidably connected with the guide rails through second pulleys.

7. A waste bin handling robot as claimed in claim 3 wherein the gripping means is provided on the slide by a second pushing mechanism comprising a second telescopic member provided on the slide, the gripping means being provided on a telescopic end of the second telescopic member.

8. The trash can handling robot of claim 7, wherein the second pushing mechanism further comprises a front slide rail, a rear slide rail and a scissor type connecting rod, wherein a vertical horizontal plane of the front slide rail is arranged on the gripping device, a vertical horizontal plane of the rear slide rail is arranged on the sliding block, two upper end points of the scissor type connecting rod are fixedly connected with the front slide rail and the rear slide rail respectively, and two lower end points of the scissor type connecting rod are slidably connected with the front slide rail and the rear slide rail respectively.

9. The trash bin handling robot of claim 1, wherein the gripping device includes at least one insertion arm with an anti-skid unit and an insertion block disposed vertically with respect to a horizontal plane;

when the lifting device lifts the grabbing device, the insert block moves from the lower part of the garbage can to the upper part of the garbage can and is detachably inserted into the insertion hole on the outer edge of the upper end of the garbage can, and the anti-skid unit is attached to the outer side of the garbage can and close to the garbage can.

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