WO2021003820A1

WO2021003820A1 - Trash bin lifting apparatus and garbage truck having same

Info

Publication number: WO2021003820A1
Application number: PCT/CN2019/103351
Authority: WO
Inventors: 李亮; 张斌; 龚建球; 魏星; 袁科; 万军
Original assignee: 长沙中联重科环境产业有限公司
Priority date: 2019-07-05
Filing date: 2019-08-29
Publication date: 2021-01-14
Also published as: CN110342154A; CN110342154B

Abstract

A trash bin lifting apparatus and a garbage truck having the same. The apparatus comprises: an installation base (10), a first lifting arm (30) and a second lifting arm (40), and a driving mechanism (60) for driving the first lifting arm (30) and the second lifting arm (40) to move synchronously. The driving mechanism (60) is connected to the installation base (10) and drives the first lifting arm (30) and the second lifting arm (40) to respectively rotate about first hinge points where the installation base (10) is hinged thereto in such a way that the first lifting arm (30) and the second lifting arm (40) open up with respect to each other and extend forward so as to be inserted into two sides of a trash bin (20) to be lifted. The driving mechanism further drives the first lifting arm (30) and the second lifting arm (40) to respectively rotate about the first hinge points such that the first lifting arm (30) and the second lifting arm (40) draw close to each other and free ends thereof bend inwardly so as to tightly press the trash bin (20) to be lifted.

Description

Garbage bin clamping device and garbage truck with same

Technical field

The present invention relates to the technical field of garbage treatment, and in particular, to a garbage bin clamping device. In addition, the present invention also relates to a garbage truck including the garbage bin clamping device described above.

Background technique

Garbage trucks are mainly used for garbage collection and transportation in cities and towns. Traditional garbage trucks mainly use semi-automatic dumping devices to dump the garbage in the garbage cans into the garbage trucks. The semi-automatic dumping devices cannot automatically grab the garbage cans. Before dumping, sanitation personnel need to fix the garbage cans to the dumping device. After dumping, sanitation is required. The personnel removed the trash can from the dumping device and returned it to its place. At present, some garbage trucks are equipped with automatic grabbing devices. When the automatic grabbing devices grab the garbage cans, they usually adopt an embracing form and have a large opening and closing action range. Therefore, the placement and distance of the garbage cans are demanding. With the acceleration of urban construction, the expansion of urban scale, and the increase of labor costs, automatic feeding devices are an urgent environmental sanitation problem.

The existing garbage truck loading device has a low degree of automation and requires the assistance of sanitation personnel to complete the operation. Even if an automatic grab device is used, the placement and spacing of the garbage cans are demanding, and the garbage cans need a large distance and a small deviation in orientation. Accurate grasping makes it impossible to work on densely placed trash bins, and sanitation personnel are required to regularize trash bins, which increases the labor intensity of sanitation personnel.

Summary of the invention

The invention provides a trash can clamping device and a garbage truck with the trash can, so as to solve the technical problem that the existing automatic grabbing device cannot work on the trash cans placed randomly and densely.

The technical scheme adopted by the present invention is as follows:

A trash can clamping device, comprising: a mounting seat for detachably connecting with the loading arm of a garbage truck, a first clamping arm and a second clamping arm for clamping or loosening the garbage can, and A driving mechanism for driving the first clamping arm and the second clamping arm to act in synchronization; the first clamping arm and the second clamping arm are arranged oppositely, and the connecting end of the first clamping arm and the connecting end of the second clamping arm are respectively hinged with the mounting seat The driving mechanism is connected to the mounting seat, and the driving mechanism is respectively connected with the first clamping arm and the second clamping arm; the driving mechanism drives the first clamping arm and the second clamping arm to rotate around the first hinge point hinged with the mounting seat respectively The first clamping arm and the second clamping arm are relatively open and the first clamping arm and the second clamping arm are in a straight state so as to be inserted into the two sides of the trash can to be clamped; the driving mechanism also drives the first clamping arm and the second clamping arm around the first hinge respectively. The point is turned to be relatively close and the free ends of the first clamping arm and the second clamping arm are bent inward to compress the trash can to be clamped.

Further, the first clamping arm and the second clamping arm have the same structure and are arranged symmetrically, and both include a swing rod assembly hinged to the mounting base, and a back clamp assembly hinged to the swing rod assembly along the length direction; the driving mechanism includes the mounting base The drive assembly on the upper side, and the connecting rod assembly connected to the drive assembly; the swing rod assembly and the clamp-back assembly are hinged to the connecting rod assembly, so that under the action of the connecting rod assembly, the two sets of swing rod assemblies are relatively opened and clamped back at the same time The components are straightened along the length direction of the correspondingly connected pendulum rod assemblies, or the two sets of pendulum rod assemblies are relatively close together while the clamp-back assembly is bent inward relative to the correspondingly connected pendulum rod assemblies.

Further, the drive assembly includes a drive rack slidably arranged on the mounting seat, the drive rack is connected with a drive source for driving the drive rack to slide along a straight line, and the drive source is arranged on the mounting seat; the drive assembly also includes a drive gear A drive gear for meshing transmission, and the drive gear is rotatably arranged on the mounting seat.

Further, each pendulum rod assembly includes a pendulum rod whose first end is hinged to the mounting base, and a slider that is slidably arranged on the pendulum rod along the length of the pendulum rod; each back clamp assembly includes a second end corresponding to the pendulum rod. Hinged back clamp lever.

Further, the connecting rod assembly includes an executive rack that meshes with the drive gear, a push frame and two connecting rods; the push frame is in a "U" shape and includes two push rods arranged oppositely and a cross bar connecting the two push rods , The middle part of the cross bar is vertically connected with the actuator rack, and the two push rods are respectively hinged with the two sliders on the two pendulum rods; the first ends of the two connecting rods are hinged with the ends of the two push rods respectively; The connecting end of the clamp-back lever of the clamp assembly is hinged with the second end of the corresponding connecting rod, and the hinge point of the swing lever on the clamp-back lever is on the side where the hinge point on the clamp-back lever of the link is biased to the center position, To ensure the opening or closing of the connection and prevent the connecting rod from interfering with the movement of the clamp rod; the distance between the hinge points of the two sets of swing rod assemblies on the mounting seat is less than the hinge point of the push frame on the two sliders To ensure that the swing rod assembly is arranged obliquely outward.

Further, each clamp-back assembly further includes a first protection pad arranged on the clamp-back lever, the first protection pad is used to abut against the outer side wall of the trash can when the trash can is clamped; each link assembly further includes The second protection pad on the rod is used for abutting against the outer side wall of the trash can when the trash can is clamped.

Further, each pendulum rod assembly includes a pendulum rod whose first end is hinged to the mounting base, and two sliders that are slidably arranged on the upper and lower surfaces of the pendulum rod along the length direction of the pendulum rod; Two clamp levers are hinged on the upper and lower surfaces of the two ends respectively.

Further, the number of connecting rod assemblies is two groups, the two connecting rod assemblies are separately arranged on the upper and lower sides of the pendulum rod assembly, and each connecting rod assembly includes an executive rack, a push frame and two connecting rods that mesh with the drive gear for transmission; The push frame is in a "U" shape and includes two push rods arranged oppositely and a cross rod connecting the two push rods. The middle of the cross rod is connected vertically with the corresponding side actuator rack, and the two push rods are respectively connected with the two push rods on the corresponding side. The two sliders on the swing rod are respectively hinged; the first ends of the two connecting rods are respectively hinged with the ends of the two push rods on the corresponding side; the connection of the clamp-back rod of the clamp-back assembly on the same side of the swing rod assembly The ends are respectively hinged with the second end of the connecting rod on the corresponding side, and the hinge point of the swing lever on the clamp-back lever is on the side of the hinge point of the connecting rod on the clamp-back lever biased to the center position to ensure that the open or closed Connecting action and prevent the connecting rod from interfering with the movement of the clamp rod; the distance between the hinge points of the two sets of swing rod assemblies on the mounting seat is less than the distance between the hinge points of the push frame on the two sliders on the same side, To ensure that the pendulum assembly is laid out obliquely.

Further, each clamp-back assembly further includes a first protection pad connecting two clamp-back rods, the first protection pad is used to abut against the outer side wall of the trash bin when clamping the trash bin; the connecting rod assembly also includes connecting two push rods. The second protection pad of the two cross bars of the frame is used for abutting against the outer side wall of the garbage can when the garbage can is clamped.

According to another aspect of the present invention, there is also provided a garbage truck, including the garbage bin clamping device as described above.

The present invention has the following beneficial effects:

The trash can clamping device of the present invention can automatically clamp or loosen the trash can, and the degree of automation is high, which not only improves the feeding efficiency of the garbage truck, but also reduces the labor intensity of the sanitation personnel; the clamping device of the present invention clamps the garbage can before , The first clamping arm and the second clamping arm are relatively open, and the first clamping arm and the second clamping arm are straightened to form a "one" structure, which is convenient for the first clamping arm and the second clamping arm to insert the garbage to be clamped On both sides of the bucket, compared with the existing encircling clamping structure, the clamping device of the present invention has a smaller motion profile envelope size when clamping the trash can, so it can be well adapted to the environment of multiple buckets with small gaps and disorderly placement ; Before the clamping device of the present invention clamps the trash can, the first clamping arm and the second clamping arm are relatively open and the first clamping arm and the second clamping arm are straightened to form a nearly "V"-shaped guiding structure. When the trash can is clamped by the taking device, the first clamping arm and the second clamping arm are relatively close together and the free ends of the first clamping arm and the second clamping arm are bent inward to form a near-mouth clamping with the mounting seat Structure, the two structures have a small difference in envelope size, so they are very suitable for the grasping environment of multi-bucket placement. At the same time, the guiding action of the "V"-shaped guiding structure and the holding action of the "returning" clamping structure can be The trash can is automatically calibrated, so the clamping device of the present invention can adapt to the environment of multiple barrels in a disorderly arrangement;

The garbage truck of the present invention has a high degree of automation, which can not only improve the feeding efficiency of the garbage truck, but also reduce the labor intensity of the sanitation personnel; the garbage truck of the present invention has a small enveloping size of the movement shape when the garbage can is clamped, so it can be well adapted An environment with multiple barrels with small clearance and disorderly placement; in the garbage truck of the present invention, the first and second clamping arms are relatively open and the first and second clamping arms are straightened to form a nearly "V" shape The guiding structure, the first clamping arm and the second clamping arm are relatively close together, and the free ends of the first clamping arm and the second clamping arm are bent inward to form a near "mouth" type clamping structure with the mounting seat. The shape and envelope size of the spheroid is very small, so it is very suitable for the grasping environment of multiple barrels. At the same time, the guiding action of the "V"-shaped guiding structure and the holding action of the "returning"-shaped clamping structure can automatically carry out the trash can Correction, therefore, the garbage truck of the present invention can adapt to the environment with multiple barrels in disorderly placement.

In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The present invention will be described in further detail with reference to the drawings.

Description of the drawings

The drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the exemplary embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a schematic top view of the structure of a trash can clamping device according to a preferred embodiment of the present invention;

Fig. 2 is a schematic partial cross-sectional top view of Fig. 1;

Fig. 3 is a schematic front view of a second embodiment of a trash can clamping device according to a preferred embodiment of the present invention;

4 is a schematic diagram of the state of the trash can clamping device in FIG. 1 when it is opened to be clamped;

Fig. 5 is a schematic diagram of the state of the garbage can clamping device in Fig. 1 when the garbage can is clamped.

illustration

10. Mounting seat; 20. Trash can; 30. First clamp arm; 40. Second clamp arm; 51. Swing rod assembly; 511. Swing rod; 512. Slide block; 52. Back clamp assembly; 521. Back clamp Rod; 522, the first protective pad; 60, drive mechanism; 61, drive assembly; 611, drive rack; 612, drive source; 613, drive gear; 62, connecting rod assembly; 621, executive rack; 622, push Frame; 623, connecting rod; 624, second protection pad.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention may be implemented in a variety of different ways defined and covered below.

1, 4 and 5, a preferred embodiment of the present invention provides a trash can clamping device, including: a mounting seat 10 for detachably connecting with the loading arm of a garbage truck, and a cooperating arrangement for The first clamping arm 30 and the second clamping arm 40 of the trash can 20 are clamped or loosened, and a driving mechanism 60 for driving the first clamping arm 30 and the second clamping arm 40 to act in synchronization. The first clamping arm 30 and the second clamping arm 40 are arranged oppositely, and the connecting end of the first clamping arm 30 and the connecting end of the second clamping arm 40 are hinged to the mounting base 10 respectively. The driving mechanism 60 is connected to the mounting base 10, and the driving mechanism 60 is connected to the first clamping arm 30 and the second clamping arm 40, respectively. The driving mechanism 60 drives the first clamping arm 30 and the second clamping arm 40 to rotate around a first hinge point hinged to the mounting base 10 to be relatively open, and the first clamping arm 30 and the second clamping arm 40 are in a straightened state to Inserted to both sides of the trash can 20 to be clamped. As shown in FIG. 4, the driving mechanism 60 also drives the first clamping arm 30 and the second clamping arm 40 to rotate around the first hinge point to move closer together, and the free ends of the first clamping arm 30 and the second clamping arm 40 are bent inward. Fold to compress the trash can 20 to be clamped, as shown in FIG. 5.

When the trash can clamping device of the present invention is working, the driving mechanism 60 drives the first clamping arm 30 and the second clamping arm 40 to move synchronously, so that the first clamping arm 30 and the second clamping arm 40 are respectively hinged around the mounting base 10 The first hinge point rotates to relatively open and at the same time the first clamping arm 30 and the second clamping arm 40 are in a straightened state, so as to respectively extend into the two sides of the trash can 20 to be clamped, as shown in FIG. 4, forming a clamp The preparation state before holding the trash can 20; the driving mechanism 60 then drives the first clamping arm 30 and the second clamping arm 40 to move synchronously, so that the first clamping arm 30 and the second clamping arm 40 respectively surround the first clamping arm hinged with the mounting seat 10 A hinge point is rotated to move closer together, and at the same time, the free ends of the first clamping arm 30 and the second clamping arm 40 are bent inward to compress the trash can 20 to be clamped, as shown in FIG. 5.

The trash can clamping device of the present invention can automatically clamp or loosen the trash can 20, and the degree of automation is high, which not only improves the feeding efficiency of the garbage truck, but also reduces the labor intensity of the sanitation personnel; the clamping device of the present invention clamps the trash can Before, the first clamping arm 30 and the second clamping arm 40 are relatively open, and the first clamping arm 30 and the second clamping arm 40 are straightened to form a "one"-shaped structure, which is convenient for the first clamping arm 30 and the second clamping arm 40 is inserted into both sides of the trash can 20 to be clamped. Compared with the existing encircling clamping structure, the clamping device of the present invention has a small motion profile envelope size when clamping the trash can, so it can adapt to the small gap. , A messy environment with multiple barrels; before the clamping device of the present invention clamps the trash can, the first clamping arm 30 and the second clamping arm 40 are relatively open and the first clamping arm 30 and the second clamping arm 40 are straightened, To form a nearly "V"-shaped guiding structure, when the clamping device clamps the trash can, the first clamping arm 30 and the second clamping arm 40 are relatively close together and the free ends of the first clamping arm 30 and the second clamping arm 40 face inward It is bent to form a nearly "mouth" type clamping structure with the mounting base 10. The two structures have a small difference in envelope size, so they are very suitable for the grasping environment of multiple barrels. At the same time, the "V" shape guide The guiding action of the structure and the retracting action of the "return" type clamping structure can automatically correct the trash can, so the clamping device of the present invention can adapt to the environment of multiple cans with disorderly placement.

Optionally, as shown in FIG. 1, the first clamping arm 30 and the second clamping arm 40 have the same structure and are arranged symmetrically, and both include a swing rod assembly 51 hinged to the mounting base 10 and hinged to the swing rod assembly 51 along the length direction. The back clamp assembly 52. The driving mechanism 60 includes a driving assembly 61 arranged on the mounting base 10 and a connecting rod assembly 62 connected with the driving assembly 61. The swing rod assembly 51 and the clamp back assembly 52 are respectively hinged to the link assembly 62, so that under the action of the link assembly 62, the two sets of swing rod assemblies 51 are relatively opened while the clamp back assembly 52 is connected along the corresponding swing rod assembly 51 The length direction of the two sets of pendulum rod assemblies 51 is straightened, or the back clamp assembly 52 is bent inward relative to the correspondingly connected pendulum rod assembly 51 while the two sets of swing rod assemblies 51 are relatively close together.

In a specific embodiment of this alternative solution, as shown in FIG. 2, the driving assembly 61 includes a driving rack 611 slidably arranged on the mounting base 10, and the driving rack 611 is connected with a driving rack 611 for sliding along a straight line. The driving source 612 is arranged on the mounting base 10. The driving assembly 61 also includes a driving gear 613 meshing and transmitting with the driving rack 611, and the driving gear 613 is rotatably arranged on the mounting base 10. Further, the drive source 612 is one of a drive cylinder, a drive cylinder, a drive structure formed by a hydraulic motor and an electric push rod, and a drive structure formed by a motor and an electric push rod, and the drive source 612 is connected to the control system of the garbage truck. In order to operate under the control of the control system, the driving source 612 may also be another structure capable of driving the driving rack 611 to move linearly. The clamping device of the present invention is a single driving source of the driving source 612, so the clamping device of the present invention has a simple structure and high reliability. Furthermore, the mounting base 10 includes an upper mounting plate and a lower mounting plate which are arranged oppositely and connected up and down, the driving source 612 and the driving rack 611 are arranged on the lower mounting plate, and the driving rack 611 is connected to the driving end of the driving source 612 ; The lower mounting plate is vertically provided with a mounting shaft, and the driving gear 613 is rotatably mounted on the mounting shaft.

In the first specific embodiment of this optional solution, as shown in FIG. 1, each pendulum rod assembly 51 includes a pendulum rod 511 whose first end is hinged to the mounting base 10, and is slidably disposed on the pendulum rod along the length direction of the pendulum rod 511. 511 on the slider 512. Each clamp-back assembly 52 includes a clamp-back rod 521 hingedly connected to the second end of a correspondingly disposed swing rod 511.

In the first specific embodiment of this optional solution, as shown in FIG. 1, the connecting rod assembly 62 includes an actuator rack 621 that is engaged with the driving gear 613 for transmission, a push frame 622 and two connecting rods 623. The push frame 622 is in a "U" shape and includes two push rods arranged oppositely and a cross rod connecting the two push rods. The middle of the cross rod is perpendicularly connected to the actuator rack 621, and the two push rods are respectively connected to the two pendulum rods 511 The two sliders 512 are hinged respectively. The first ends of the two connecting rods 623 are respectively hinged with the ends of the two push rods. The connecting end of the clamp-back lever 521 of each clamp-back assembly 52 is hinged to the second end of the corresponding connecting rod 623, and the hinge point of the swing rod 511 on the clamp-back lever 521 is at the hinge of the connecting rod 623 on the clamp-back lever 521 The point is biased to one side of the center position to ensure the opening or closing connection action and prevent the link 623 from interfering with the movement of the clamp rod 521; the distance between the hinge points of the two sets of swing rod assemblies 51 on the mounting seat 10 is less than The distance between the hinge points of the push frame 622 on the two sliders 512 is to ensure that the swing rod assembly 51 is arranged obliquely outward.

During operation, the drive assembly 61 moves to make the actuator rack 621 pull the push frame 622 to linearly slide away from the trash can 20. When the push frame 622 linearly slides, its two push rods pull two sliders 512, each in a corresponding setting The two pendulum rods 511 slide, and then the two pendulum rods 511 are driven by the two sliders 512 to rotate around the hinge points hinged with the mounting base 10 to open relatively, and at the same time, the two push rods are hinged respectively. The connecting rod 623 respectively pulls the clamp-back lever 521 connected to it to rotate around the hinge point hinged with the swing lever 511, so that the clamp-back lever 521 is linearly connected with the swing rod 511 connected to it, and the clamping device is formed as shown in FIG. 4 The state of being clamped; the reverse action of the drive assembly 61 causes the rack 621 to pull the push frame 622 to linearly slide toward the direction of the trash can 20, and when the push frame 622 linearly slides, its two push rods push two sliders respectively Each of 512 slides in the corresponding pendulum rod 511, and then the two pendulum rods 511 are driven by the two sliders 512 to rotate around the hinge point hinged with the mounting base 10 to move closer together, and at the same time, they are separated from the two push rods. The two hinged connecting rods 623 respectively push the clamp-back rod 521 connected to it to rotate around the hinge point hinged to the swing rod 511, so that the clamp-back rod 521 bends inward relative to the swing rod 511 connected to it, thereby forming a clamping device The gripping state shown in Figure 5.

In the first specific embodiment of this optional solution, as shown in FIG. 1, each clamp-back assembly 52 further includes a first protection pad 522 arranged on the clamp-back rod 521, and the first protection pad 522 is used to clamp the trash can It abuts against the outer side wall of the trash can 20 at 20 o'clock to prevent the trash can 20 from being pinched when clamped. Each connecting rod assembly 62 also includes a second protective pad 624 arranged on the cross bar. The second protective pad 624 is used to abut against the outer side wall of the trash can 20 when the trash can 20 is clamped, so as to prevent the trash can 20 from being clamped. When he was pinched.

In the second specific embodiment of this optional solution, as shown in FIGS. 1 and 3, each swing rod assembly 51 includes a swing rod 511 whose first end is hinged to the mounting base 10, and is slidably arranged along the length of the swing rod 511 Two sliders 512 on the upper and lower surfaces of the swing rod 511. Each clamp-back assembly 52 includes two clamp-back rods 521 respectively hinged to the upper and lower surfaces of the second end of the corresponding swing rod 511. Each group of clamp-back components 52 includes two clamp-back rods 521 arranged opposite to each other, so as to enhance the stability of the clamp-back components 52 when clamping the trash can.

In the second specific embodiment of this optional solution, as shown in Figures 1 and 3, the number of connecting rod assemblies 62 is two groups, and the two sets of connecting rod assemblies 62 are separately provided on the upper and lower sides of the pendulum rod assembly 51. The rod assembly 62 includes an execution rack 621 meshed with the driving gear 613, a push frame 622 and two connecting rods 623. The push frame 622 is in a "U" shape and includes two push rods arranged oppositely and a cross rod connecting the two push rods. The middle of the cross rod is vertically connected to the corresponding side actuator rack 621, and the two push rods are respectively connected to the corresponding side The two sliders 512 on the two pendulum rods 511 are respectively hinged. The first ends of the two connecting rods 623 are respectively hinged with the ends of the two push rods on the corresponding side. The connecting ends of the clamp-back lever 521 of the clamp-back assembly 52 located on the same side of the swing lever assembly 51 are respectively hinged to the second end of the connecting rod 623 on the corresponding side, and the hinge point of the swing lever 511 on the clamp-back lever 521 is at the connecting rod. The hinge point of 623 on the clamp-back lever 521 is biased to one side of the center position to ensure the connection action of opening or closing and to prevent the connecting rod 623 from interfering with the movement of the clamp-back lever 521. The distance between the hinge points of the two sets of swing bar assemblies 51 on the mounting base 10 is smaller than the distance between the hinge points of the push frame 622 on the two sliders 512 on the same side, so as to ensure that the swing bar assembly 51 is inclined outward Lay out. The connecting rod assembly 62 includes two sets of connecting rod assemblies arranged on the upper and lower sides of the pendulum rod assembly 51. The two sets of connecting rod assemblies are respectively connected with the pendulum rod assembly 51 and the clamp-back assembly 52 to enhance the stability of the overall structure of the clamping device.

When working, the drive assembly 61 moves to make the two actuator racks 621 pull the two push frames 622 to synchronously slide in a direction away from the trash can 20. When each push frame 622 slides linearly, its two push rods are pulled and hinged respectively. Each of the two sliders 512 slides in the corresponding side of the pendulum rod 511, and the two pendulum rods 511 are driven by the two sliders 512 to rotate around the hinge point hinged with the mounting base 10 to open relatively, at the same time The two connecting rods 623 respectively hinged to the two push rods respectively pull the clamp-back rod 521 connected to it to rotate around the hinge point hinged with the swing rod 511, so that the clamp-back rod 521 is linearly connected with the swing rod 511 connected to it. Furthermore, the clamping device forms the state to be clamped as shown in FIG. 4; the driving assembly 61 reversely moves the two actuator racks 621 to push the two push frames 622 to synchronously slide in the direction close to the trash can 20, and each push When the frame 622 slides linearly, its two push rods respectively push the two hinged sliders 512 to slide in the pendulum rod 511 on the corresponding side, and then the two pendulum rods 511 are driven by the two sliders 512 respectively. The hinge point hinged with the mounting base 10 rotates to move closer together, and at the same time, the two connecting rods 623 hinged to the two push rods respectively push the clamp-back lever 521 connected to it to rotate around the hinge point hinged with the swing rod 511 to make the The clamping rod 521 bends inward relative to the swing rod 511 connected to it, and the clamping device is formed into a clamping state as shown in FIG. 5.

In the second specific embodiment of this optional solution, as shown in FIGS. 1 and 3, each clamp-back assembly 52 further includes a first protective pad 522 connected with two clamp-back rods 521, and the first protective pad 522 is used to clamp When the trash can 20 is tightened, it abuts against the outer side wall of the trash can 20, and the first protection pad 522 connects the two clamp-back rods 521 into a whole, which is convenient to enhance the stability of the clamp-back assembly 52 when clamping the trash can, and the first protection The pad 522 can prevent the clamp-back rod 521 from pinching the trash can 20. The connecting rod assembly 62 also includes a second protection pad 624 connecting the two cross bars of the two push frames 622. The second protection pad 624 is used to abut against the outer side wall of the trash can 20 when the trash can 20 is clamped. The protective pad 624 connects the two push frames 622 into a whole, so as to enhance the stability of the driving mechanism 60. At the same time, the second protective pad 624 can prevent the trash can 20 from being pinched when clamped.

A preferred embodiment of the present invention also provides a garbage truck, which includes a garbage bin clamping device as described above. Therefore, the garbage truck of the present invention has a high degree of automation, which can not only improve the feeding efficiency of the garbage truck, but also reduce The labor intensity of the sanitation personnel; the movement profile of the garbage truck of the present invention when picking up the trash can is small, so it can be well adapted to the environment of multiple buckets with small gaps and disorderly placement; in the garbage truck of the present invention, the first clamp The arm 30 and the second clamping arm 40 are relatively open and the first clamping arm 30 and the second clamping arm 40 are straightened to form a nearly "V"-shaped guiding structure. The first clamping arm 30 and the second clamping arm 40 are relatively close together and The free ends of the first clamping arm 30 and the second clamping arm 40 are bent inward to form a near-"mouth" type clamping structure with the mounting seat 10. The two structures have a small difference in envelope size, so they are very suitable The gripping environment with multiple buckets, at the same time, the guiding action of the "V"-shaped guiding structure and the reclamation action of the "returning"-shaped clamping structure can automatically calibrate the trash can, so the garbage truck of the present invention can adapt to the placement A messy multi-barrel environment.

When the garbage truck of the present invention works, first, the visual system on the garbage truck recognizes the position information of the garbage can 20; then, the loading arm of the garbage truck extends the arm to transport the clamping device to the front of the garbage can 20. At this time, The clamping device is in an open state; then, the loading arm continues to move forward, when the trash can 20 enters the "V"-shaped guide structure of the clamping device, the drive source 612 moves, and the drive rack 611 is driven by the drive gear 613 The rack 621 moves forward to approach the trash can 20, the connecting rod assembly 62 drives the swing rod assembly 51 to swing inward to close together, and at the same time the clamp-back assembly 52 is bent inward, the connecting rod assembly 62, the swing-rod assembly 51 and the clamp-back assembly 52 constitutes a "mouth" type clamping structure to clamp the trash can 20, as shown in Figure 5; when the drive source 612 reaches the set pressure, the drive rack 611 stops moving, the clamping device reaches the set clamping force, and the clamping The taking device maintains the clamping of the trash can 20; the loading arm transports the trash can 20 to the dumping port of the trash can for garbage dumping, and returns the trash can 20 to its original position; after the trash can 20 reaches the original position, the drive source 612 reverses The drive rack 611 drives the rack 621 to move backwards away from the trash can 20 through the drive gear 613. The connecting rod assembly 62 drives the swing rod assembly 51 to swing outward to open, and the clamp assembly 52 moves outward to Straighten, the connecting rod assembly 62, the swing rod assembly 51 and the back clamp assembly 52 form a "V"-shaped guiding structure to release the trash can; finally, after the trash can 20 is released, the loading arm retracts to complete the operation. When the clamping device reaches the set clamping force, the clamping force is kept constant, so that the clamping force of the clamping device on the trash can is kept constant, thereby ensuring that the trash can does not detach during operation, and improving the reliability of the operation.

The foregoing descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

A trash can clamping device, which is characterized in that it comprises:

A mounting seat (10) for detachably connecting with the loading arm of a garbage truck, and a first clamping arm (30) and a second clamping arm (40) that are matched to be used to clamp or loosen the garbage can (20) , A driving mechanism (60) for driving the first clamping arm (30) and the second clamping arm (40) to act in synchronization;

The first clamping arm (30) and the second clamping arm (40) are arranged oppositely, and the connecting end of the first clamping arm (30) and the connecting end of the second clamping arm (40) are respectively connected to The mounting seat (10) is hinged;

The driving mechanism (60) is connected to the mounting seat (10), and the driving mechanism (60) is respectively connected to the first clamping arm (30) and the second clamping arm (40); The driving mechanism (60) drives the first clamping arm (30) and the second clamping arm (40) to rotate around the first hinge point hinged to the mounting seat (10) to relatively open and the The first clamping arm (30) and the second clamping arm (40) are in a straightened state, so as to be inserted into both sides of the trash can (20) to be clamped; the driving mechanism (60) also drives The first clamping arm (30) and the second clamping arm (40) respectively rotate around the first hinge point to move closer together, and the first clamping arm (30) and the second clamping arm (40) The free end of) is bent inward to compress the trash can (20) to be clamped.
The trash can clamping device according to claim 1, wherein:

The first clamping arm (30) and the second clamping arm (40) have the same structure and are arranged symmetrically, and both include a swing rod assembly (51) hinged to the mounting seat (10), and the swing rod The back clamp assembly (52) with the assembly (51) hinged along the length direction;

The driving mechanism (60) includes a driving assembly (61) arranged on the mounting seat (10), and a connecting rod assembly (62) connected with the driving assembly (61);

The swing rod assembly (51) and the clamp-back assembly (52) are respectively hinged to the link assembly (62), so that under the action of the link assembly (62), the two sets of the swing rod assembly (51) While relatively open, the clamp-back assembly (52) is straightened along the length of the correspondingly connected pendulum assembly (51), or the two sets of pendulum assemblies (51) are relatively close together at the same time The back clamp assembly (52) is bent inwardly relative to the correspondingly connected swing rod assembly (51).
The trash can clamping device according to claim 2, wherein:

The driving assembly (61) includes a driving rack (611) slidably arranged on the mounting seat (10), and the driving rack (611) is connected to drive the driving rack (611) to slide along a straight line. A movable driving source (612), the driving source (612) is arranged on the mounting seat (10);

The driving assembly (61) further includes a driving gear (613) meshing and driving with the driving rack (611), and the driving gear (613) is rotatably arranged on the mounting seat (10).
The trash can clamping device according to claim 3, wherein:

Each pendulum rod assembly (51) includes a pendulum rod (511) whose first end is hinged to the mounting seat (10), and is slidably arranged on the pendulum rod (511) along the length of the pendulum rod (511). ) On the slider (512);

Each of the clamp-back components (52) includes a clamp-back rod (521) hingedly connected to the second end of the corresponding swing rod (511).
The trash can clamping device according to claim 4, wherein:

The connecting rod assembly (62) includes an executive rack (621), a push frame (622), and two connecting rods (623) that mesh and drive with the drive gear (613);

The push frame (622) is in a "U" shape, and includes two push rods arranged oppositely and a cross bar connecting the two push rods. The middle of the cross rod is vertically connected to the execution rack (621) , The two push rods are respectively hinged with the two sliders (512) on the two swing rods (511);

The first ends of the two connecting rods (623) are respectively hinged with the ends of the two push rods;

The connecting end of the clamp-back lever (521) of each clamp-back assembly (52) is hinged with the second end of the corresponding connecting rod (623), and the swing rod (511) is in the clamp-back The hinge point on the clamp rod (521) is on the side of the hinge point of the connecting rod (623) on the clamp back rod (521) that is biased to the center position to ensure the opening or closing connection action and prevent the Interference of the connecting rod (623) on the movement of the clamp back rod (521);

The distance between the hinge points of the two groups of the swing rod assembly (51) on the mounting seat (10) is smaller than the distance between the hinge points of the push frame (622) on the two sliders (512) To ensure that the swing rod assembly (51) is arranged obliquely outward.
The trash can clamping device according to claim 5, wherein:

Each of the clamp-back components (52) also includes a first protection pad (522) arranged on the clamp-back rod (521), and the first protection pad (522) is used to clamp the trash can ( 20) When it abuts against the outer side wall of the trash can (20);

Each link assembly (62) also includes a second protection pad (624) arranged on the crossbar, and the second protection pad (624) is used for clamping the trash can (20) with The outer side wall of the trash can (20) abuts.
The trash can clamping device according to claim 3, wherein:

Each pendulum rod assembly (51) includes a pendulum rod (511) whose first end is hinged to the mounting seat (10), and is slidably arranged on the pendulum rod (511) along the length of the pendulum rod (511). ) Two sliders (512) on the upper and lower surfaces;

Each of the clamp-back components (52) includes two clamp-back rods (521) respectively hingedly connected to the upper and lower surfaces of the second end of the corresponding swing rod (511).
The trash can clamping device according to claim 7, wherein:

The number of the connecting rod assembly (62) is two groups, the two groups of connecting rod assembly (62) are separately arranged on the upper and lower sides of the swing rod assembly (51), and each connecting rod assembly (62) includes and The drive gear (613) meshes with the transmission rack (621), the push frame (622) and the two connecting rods (623);

The push frame (622) is in a "U" shape, and includes two push rods arranged opposite to each other and a cross bar connecting the two push rods. The middle part of the cross rod and the execution rack (621) on the corresponding side ) Vertically connected, and the two push rods are respectively hinged to the two sliders (512) on the two swing rods (511) on the corresponding side;

The first ends of the two connecting rods (623) are respectively hinged with the ends of the two push rods on the corresponding side;

The connecting ends of the clamp-back lever (521) of the clamp-back assembly (52) located on the same side of the swing lever assembly (51) are respectively hinged with the second end of the connecting rod (623) on the corresponding side, And the hinge point of the swing lever (511) on the clamp-back lever (521) is on the side of the hinge point of the connecting rod (623) on the clamp-back lever (521) that is biased to the center position, so that Ensure the connection action of opening or closing and prevent the connecting rod (623) from interfering with the movement of the clamp back rod (521);

The distance between the hinge points of the two groups of the swing rod assemblies (51) on the mounting seat (10) is smaller than the hinge connection of the push frame (622) on the two sliders (512) on the same side The distance between the points to ensure that the swing rod assembly (51) is arranged obliquely outward.
The trash can clamping device according to claim 8, wherein:

Each of the clamp-back assemblies (52) also includes a first protection pad (522) connected to the two clamp-back rods (521), and the first protection pad (522) is used to clamp the trash can ( 20) When it abuts against the outer side wall of the trash can (20);

The connecting rod assembly (62) also includes a second protection pad (624) connecting the two cross bars of the two push frames (622), and the second protection pad (624) is used for clamping The trash can (20) abuts against the outer side wall of the trash can (20).
A garbage truck, characterized by comprising the garbage bin clamping device according to claim 1.