CN103922059B - Automatic grabbing, lifting and pouring combined mechanism for garbage can - Google Patents
Automatic grabbing, lifting and pouring combined mechanism for garbage can Download PDFInfo
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- CN103922059B CN103922059B CN201410173582.3A CN201410173582A CN103922059B CN 103922059 B CN103922059 B CN 103922059B CN 201410173582 A CN201410173582 A CN 201410173582A CN 103922059 B CN103922059 B CN 103922059B
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Abstract
The invention discloses an automatic grabbing, lifting and pouring combined mechanism for a garbage can. The automatic grabbing, lifting and pouring combined mechanism comprises grabbing mechanical arms, a small-section lifting mechanism, a two-freedom-degree horizontal moving mechanism and a lifting and pouring mechanism. The grabbing mechanical arms are connected with the small-section lifting mechanism so that the grabbing mechanical arms can be driven to automatically adjust the positions in the vertical direction. The small-section lifting mechanism is connected with the two-freedom-degree horizontal moving mechanism which is in butt joint with the lifting and pouring mechanism. The lifting and pouring mechanism receives the garbage can from the grabbing mechanical arms to complete pouring operation. Through action cooperation between the small-section lifting mechanism and the two-freedom-degree horizontal moving mechanism, difference of horizontal positions, longitudinal positions and vertical positions between the grabbing mechanical arms and the garbage can due to randomness of parking positions is made up. The automatic grabbing, lifting and pouring combined mechanism has the advantages of being multiple in freedom degree, automatic in the overall process, high in environment adaptability, high in reliability and work efficiency, good in environment friendliness, and the like.
Description
Technical field
The present invention is mainly concerned with environmental sanitation mechanized equipment field, refer in particular to a kind of be applicable to dustbin automatic capturing, lift and topple over joint institution, by capturing, lift, upset dustbin realize automation and dump rubbish to garbage truck carriage.
Background technology
Collect the basic link that dustbin rubbish is municipal refuse collection process.At present, ubiquity two kinds of collection modes, (1) take out the inner core of dustbin by staff, dumps rubbish into small-sized rubbish car (majority pulls dump truck) compartment with manpower transport; (2) dustbin of two tugboats is housed for bottom, and sanitationman's needs drag dustbin to garbage truck limit with staff after getting off, and hang up hook, then operate elevating mechanism, rubbish compartment of dumping rubbish; Afterwards, then with staff dustbin placement original position is towed back to.But along with city is expanded rapidly with city environmental quality requirement more and more higher, this kind of limitation relying on the labour-intensive operating type of manpower is excessively more and more outstanding, development has the intellectualized technology of high operating efficiency and equipment and to be inevitable trend.
Practitioner is had to propose the technology being captured dustbin by mechanical hand, its dustbin grabbing device mainly adopts longitudinally arranges hydraulic cylinder, by connecting rod and then drive whole finger to rotate around finger rotating shaft, although a hydraulic cylinder can be saved like this, but owing to the addition of a set of linkage, therefore longitudinal physical dimension of sleeve mechanism increases, this proposes challenge to garbage truck vehicle chassis narrow space, and the transmission of power easily causes mechanism blockage between connecting rod, add the frequency of dustbin gripping action, mechanism reliability is lower.On the other hand, the clamping finger that existing mechanism adopts all does not add servicing unit, and simple utilizes rigidity grip finger dustbin, flat by folder under causing dustbin most cases, even also occurs the phenomenon of dustbin landing.Simultaneously, dustbin lifting device in aforesaid way adopts linkage mostly, i.e. four-bar mechanism or parallelogram lindage other auxiliary bodies additional, although this mechanism can complete lifting action, but space geometry size is large, occur in dustbin uphill process that bumpy motion, positioning precision are poor, add that long, the full load garbage bucket quality of connecting rod is large, in lifting process, end load causes moment of flexure very large, causes rod hinge connection place stressed excessive, easily destroys, but also producing larger inertia force, it is all disadvantageous that this action to sleeve mechanism runs.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical problem existed for prior art, the invention provides a kind of multivariant, full process automatization, environmental suitability is strong, reliability is high, operating efficiency is high, has the automatic capturing for dustbin of better environment friendly, lifts and topple over joint institution.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of automatic capturing for dustbin, lift and topple over joint institution, comprise catching robot, segment hoisting mechanism, two degrees of freedom horizontal mobile mechanism and lift tipping mechanism, described catching robot and segment hoisting mechanism are connected so that with catching robot, the automated location carried out on vertical direction adjusts, described segment hoisting mechanism connects two degrees of freedom horizontal mobile mechanism, described two degrees of freedom horizontal mobile mechanism docking lift tipping mechanism, described lift tipping mechanism is taken over dustbin from catching robot and is toppled over operation to complete, the randomness making up parking spot by the coordination of described segment hoisting mechanism and two degrees of freedom horizontal mobile mechanism causes the transverse direction between catching robot and dustbin, longitudinally, the difference of vertical position.
As a further improvement on the present invention: described catching robot comprises the catching robot pedestal be fixed on segment hoisting mechanism, finger and finger actuation hydraulic cylinder, described finger actuation hydraulic cylinder is lateral arrangement, one end is hinged by the finger pedestal of pin or axle and finger, the other end is hinged with the affixed bar of root of the upper finger tips of finger, and the elongation of described finger actuation hydraulic cylinder drives the thorny finger rotating shaft of pivoting finger to rotate with the clamping completing dustbin and release with contraction.
As a further improvement on the present invention: described finger tips place is provided with the partly finger that a set of elastomeric material is made, described partly finger, can around partly referring to that rotating shaft rotates, and the described side partly referred to is connected with finger tips by buffer spring.
As a further improvement on the present invention: described segment hoisting mechanism comprises lifting hydraulic cylinder and the stationary rack affixed with catching robot pedestal, described lifting hydraulic cylinder upper end by bearing pin and lifting hydraulic cylinder bearing hinged, lower end by gear shaft with Double-gear is hinged side by side; Described Double-gear side by side coordinates with stationary rack and mobile rack respectively, and under rack pinion, mobile rack moves up and down to drive whole catching robot to move up and down.
As a further improvement on the present invention: described mobile rack with upgrade block matrix offers two half bore respectively and coordinates with horizontally disposed two lift shaft, the axle head of two described lift shaft is connected with finger pedestal root respectively, the finger pedestal root of described finger and the slide block of line slideway affixed, described slide block moves up and down at slide rail, described slide rail and pedestal affixed, described mobile rack moves up and down to drive whole catching robot to move up and down along slide rail.
As a further improvement on the present invention: described two degrees of freedom horizontal mobile mechanism comprises the bearing be installed on refuse collector car bottom vehicle frame, Y-direction track, Y-direction hydraulic cylinder, X to track and X to hydraulic cylinder, described Y-direction track vehicular sideview and segment hoisting mechanism affixed, under the effect of Y-direction hydraulic cylinder, Y-direction rail telescopic is adjustable to realize catching robot lateral attitude; Under the effect of X to hydraulic cylinder, X is adjustable in horizontal lengthwise position to realize catching robot to rail telescopic.
As a further improvement on the present invention: described lift tipping mechanism comprises clamping device, slide rail, lift hydraulic cylinder and lifting rod, clamping device comprises clamping drive motors and drives leading screw to clamp dustbin, from catching robot transfer dustbin to lift tipping mechanism, and along sliding rail climbing dustbin.
Compared with prior art, the invention has the advantages that:
1, the automatic capturing for dustbin of the present invention, lift and topple over joint institution, be applicable to high-end refuse collector automated job, do not need sanitationman to get off assistance, operating efficiency is high.
2, the automatic capturing for dustbin of the present invention, lift and topple over joint institution, have the locomitivity of space three-freedom, environmental suitability is strong, and the randomness efficiently solving parking spot affect the accuracy problem of manipulator crawl dustbin.
3, the automatic capturing for dustbin of the present invention, lift and topple over joint institution, manipulator finger has the targeted design preventing from clashing into and damage dustbin or anti-dustbin landing.
4, the automatic capturing for dustbin of the present invention, lift and topple over joint institution, adopt the light-weight design of segment hoisting mechanism, can cantilever beam mechanism end load excessive, cause the problem of structure bulky.
Accompanying drawing explanation
Fig. 1 is the main TV structure principle schematic under the present invention is in original state condition in embody rule example.
Fig. 2 is the partial schematic diagram at a catching robot visual angle in the present invention.
Fig. 3 is the partial schematic diagram at another visual angle of catching robot in the present invention.
Fig. 4 is the main view principle schematic diagram of segment hoisting mechanism in the present invention.
Fig. 5 is the side-looking principle schematic of segment hoisting mechanism in the present invention.
Fig. 6 is the principle schematic at a two degrees of freedom horizontal mobile mechanism visual angle in the present invention.
Fig. 7 is the principle schematic at another visual angle of two degrees of freedom horizontal mobile mechanism in the present invention.
Fig. 8 is the principle schematic lifting tipping mechanism in the present invention.
Marginal data:
1, catching robot pedestal; 2, finger tips; 3, rotating shaft is pointed; 4, finger actuation hydraulic cylinder; 5, partly rotating shaft is referred to; 6, partly refer to; 7, point; 8, the affixed bar of root; 9, finger pedestal; 10, caulking gum; 11, lifting hydraulic cylinder bearing; 12, lifting hydraulic cylinder; 13, stationary rack; 14, gear shaft; 15, Double-gear side by side; 16, slide block; 17, slide rail; 18, bearing pin; 19, buffer spring; 20, lift shaft; 21, upgrade block; 22, mobile rack; 23, Y-direction track; 24, X is to hydraulic cylinder; 25, X is to track; 26, X way roller; 27, Y-direction hydraulic cylinder; 28, bearing; 29, catching robot; 30, segment hoisting mechanism; 31, two degrees of freedom horizontal mobile mechanism; 32, tipping mechanism is lifted; 33, clamping device; 34, drive motors is clamped; 35, leading screw is driven; 36, lifting rod; 37, slide rail is lifted; 38, hydraulic cylinder is lifted; 39, rubbish compartment inlet cover.
Detailed description of the invention
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Figure 1, automatic capturing for dustbin of the present invention, lift and topple over joint institution, automation can capture, lift dustbin and realize dumping rubbish the multiple degrees of freedom joint institution of barrel rubbish to garbage truck carriage for a kind of, there is three-dimensional locomitivity.It comprises: catching robot 29, segment hoisting mechanism 30, two degrees of freedom horizontal mobile mechanism 31, lift tipping mechanism 32; Wherein, catching robot 29 and segment hoisting mechanism 30 are connected, and segment hoisting mechanism 30 connects two degrees of freedom horizontal mobile mechanism 31, and two degrees of freedom horizontal mobile mechanism 31 docks lift tipping mechanism 32.Segment hoisting mechanism 30 can carry out the automated location adjustment on vertical direction with catching robot 29, two degrees of freedom horizontal mobile mechanism 31 can carry out the automated location adjustment on horizontal direction, fore-and-aft direction with segment hoisting mechanism 30 and catching robot 29, lift tipping mechanism 32 is used for taking over dustbin from catching robot 29 and topples over operation to complete.Namely operationally, by the coordination of segment hoisting mechanism 30 and two degrees of freedom horizontal mobile mechanism 31, the randomness that can make up parking spot causes the difference of horizontal, longitudinal direction between catching robot 29 and dustbin, vertical position, then accurately captures dustbin by catching robot 29.When two degrees of freedom horizontal mobile mechanism 31 is retracted car rear flank, lift tipping mechanism 32 handed to by dustbin by catching robot 29.Hoisting mechanism and the tipping mechanism of lift tipping mechanism 32 are linked, and barrel rubbish of dumping rubbish enters garbage truck carriage.After the task of dumping rubbish completes, above-mentioned action is reversible, can reappose dustbin and return original position.Above-mentioned all kinds of action relies on driver's straighforward operation in driver's cabin to realize, and associated drive mechanism can be hydraulic pressure, electricity drives or other similar Mechanical Driven, and description is here only for hydraulic pressure.
As shown in Figures 2 and 3, in the present embodiment, catching robot 29 comprises the catching robot pedestal 1 be fixed on segment hoisting mechanism 30, finger 7 and actuating mechanism thereof.Wherein, catching robot pedestal 1 is provided with caulking gum 10, finger actuation hydraulic cylinder 4 one end of lateral arrangement by pin or axle and finger pedestal 9 hinged, the root affixed bar 8 of the other end and finger tips 2 is hinged, the elongation of finger actuation hydraulic cylinder 4 drives the thorny finger rotating shaft 3 of pivoting finger 7 to rotate with contraction, completes clamping and the release of dustbin.In clamping dustbin process; partly refer to that 6 contact dustbin in advance, produce pre-clamping force to dustbin, in the rotation clamping process of whole finger 7; buffer spring 19 can ensure half finger 6 and the contact on dustbin surface well, protects dustbin from pressing from both sides flat destruction.In said structure, finger actuation hydraulic cylinder 4 lateral arrangement, can effectively reduce longitudinal physical dimension of finger pedestal 9, ledge takes up room little; Finger tips 2 adds the partly finger 6 that a set of elastomeric material is made further, partly refer to that 6 can around partly referring to that rotating shaft 5 rotates, add first and refer to that 6 sides are connected with finger tips 2 by buffer spring 19, in the process of clamping dustbin, can be good at ensureing the close contact on itself and dustbin surface, clamping process also can be avoided to cause damage to dustbin.
As shown in Figure 4 and Figure 5, segment hoisting mechanism 30 is the bearing of catching robot 29, also the vertical relative position between catching robot 29 and crawled dustbin can be regulated, it is affixed with catching robot pedestal 1 that it comprises stationary rack 13, lifting hydraulic cylinder 12 upper end is hinged by bearing pin 18 and lifting hydraulic cylinder bearing 11, lower end is by gear shaft 14 and Double-gear 15 is hinged side by side, Double-gear 15 coordinates with stationary rack 13 and mobile rack 22 respectively side by side, under rack pinion, mobile rack 22 just can move up and down, and can obtain larger stroke.Mobile rack 22 and upgrade block 21 matrix offer two half bore respectively, just coordinate with horizontally disposed two lift shaft 20, be fastened by bolts together, and the axle head of two lift shaft 20 is connected with finger pedestal 9 root of finger 7 respectively, finger pedestal 9 root is affixed with the slide block 16 of line slideway again, slide block 16 can move up and down at slide rail 17, slide rail 17 is affixed with catching robot pedestal 1, mobile rack 22 moves up and down and just indirectly drives whole catching robot 29 to move up and down along slide rail 17, adjusts its vertical position.In said structure, segment hoisting mechanism 30 is the bearing of catching robot 29, also can regulate the vertical relative position between catching robot 29 and crawled dustbin.The more important thing is, adopt segment hoisting mechanism 30, instead of adopt the Integral lifting mechanism with garbage truck carriage overhead height, can avoid stretching out the excessive load of manipulator to the cantilever beam structure end in roadside, cause structure bulky, belong to light-weight design, guarantee structural strength, rigidity requirement.
As shown in Figure 6 and Figure 7, in the present embodiment, two degrees of freedom horizontal mobile mechanism 31 is installed on the vehicle frame of refuse collector car bottom, be mainly used for regulating the horizontal vertical and horizontal relative position between catching robot 29 and crawled dustbin, concrete structure comprises bearing 28 and is installed on by two degrees of freedom horizontal mobile mechanism 31 on the vehicle frame of refuse collector car bottom, Y-direction track 23, this guide rail the outer end in vehicle right side direction and segment hoisting mechanism 30 affixed, under Y-direction hydraulic cylinder 27 acts on, Y-direction track 23 is scalable, realize catching robot 29 lateral attitude adjustable.X to track 25, that X realizes catching robot 29 to hydraulic cylinder 24 and X way roller 26 is adjustable in horizontal lengthwise position.In said structure, the vertical position adjustable function of associating segment hoisting mechanism 30, solve the problem of difference that random parking spot causes horizontal, longitudinal direction between catching robot 29 and dustbin, vertical position, guarantee that catching robot 29 accurately can capture dustbin.
As shown in Figure 8, in the present embodiment, lift tipping mechanism 32 comprises clamping device 33, at its clamping drive motors 34 with under driving leading screw 35 to act on, clamping dustbin, realizes shifting dustbin to lift tipping mechanism from catching robot 29, and promotes dustbin along lift slide rail 37.Then, under the interlock effect lifting hydraulic cylinder 38 and lifting rod 36, while opening rubbish compartment inlet cover 39, the dustbin realized by clamping overturns, and rubbish compartment of dumping rubbish.After barrel rubbish of dumping rubbish, lift tipping mechanism 32 can clamp and lower emptying dustbin, hand to catching robot 29, under the cooperation of segment hoisting mechanism 30 and two degrees of freedom horizontal mobile mechanism 31, catching robot 29 can by dustbin safety, reliably put back to original position.
During concrete practice application, driver, according to video environment monitor message in driver's cabin, keeps catching robot 29 roadside of aliging to wait to collect the dustbin of rubbish as far as possible during parked vehicles.
Driver is according to video environment monitor message in driver's cabin, and straighforward operation two degrees of freedom horizontal mobile mechanism 31 adjusts the lengthwise position of catching robot 29 further, stretches out catching robot 29 to roadside simultaneously.Adjust catching robot 29 and capture dustbin by controlling segment hoisting mechanism 30 at dustbin ladle body correct position, avoid stopping casual bring horizontal, longitudinal direction, vertical position difference.
Handle two degrees of freedom horizontal mobile mechanism 31 and catching robot 29 is regained automobile side together with dustbin, and adjustment refers to lift tipping mechanism 32 docking location.Lift tipping mechanism 32 clamps dustbin by clamping device 33, and then catching robot 29 unclamps dustbin.Lift tipping mechanism 32 promotes dustbin to height of wagon the lift slide rail 37 that dustbin againsts compartment again, and rubbish compartment inlet cover 39 is opened in interlock simultaneously, at correct position upset dustbin, is accurately poured in rubbish compartment by dustbin rubbish.
Dustbin after the clamping of lift tipping mechanism 32 empties is transferred along lift slide rail 37, and rubbish compartment inlet cover 39 is built in interlock simultaneously.Drop to catching robot 29 position, hold dustbin tightly by catching robot 29, then lift tipping mechanism 32 and discharge dustbin.
Two degrees of freedom horizontal mobile mechanism 31 stretches out catching robot 29, simultaneously in conjunction with segment hoisting mechanism 30 co-operating, realizes catching robot 29 and dustbin is put back to original position.
After catching robot 29 discharges dustbin, work in coordination with through two degrees of freedom horizontal mobile mechanism 31 and segment hoisting mechanism 30, catching robot 29 is regained, and adjusts to reliable, safe laying state.So far, one time dustbin task of collecting completes, and garbage truck goes to next task point.
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (7)
1. the automatic capturing for dustbin, lift and topple over joint institution, it is characterized in that, comprise catching robot (29), segment hoisting mechanism (30), two degrees of freedom horizontal mobile mechanism (31) and lift tipping mechanism (32), described catching robot (29) and segment hoisting mechanism (30) are connected and adjust with the automated location carried out on vertical direction with catching robot (29), described segment hoisting mechanism (30) connects two degrees of freedom horizontal mobile mechanism (31), described two degrees of freedom horizontal mobile mechanism (31) docking lift tipping mechanism (32), described lift tipping mechanism (32) is taken over dustbin from catching robot (29) and is toppled over operation to complete, the randomness making up parking spot by the coordination of described segment hoisting mechanism (30) and two degrees of freedom horizontal mobile mechanism (31) causes the transverse direction between catching robot (29) and dustbin, longitudinally, the difference of vertical position.
2. the automatic capturing for dustbin according to claim 1, lift and topple over joint institution, it is characterized in that, described catching robot (29) comprises the catching robot pedestal (1) be fixed on segment hoisting mechanism (30), finger (7) and finger actuation hydraulic cylinder (4), described finger actuation hydraulic cylinder (4) is in lateral arrangement, one end is hinged by the finger pedestal (9) of pin or axle and finger (7), the affixed bar of root (8) of the other end and the upper finger tips (2) of finger (7) is hinged, the elongation of described finger actuation hydraulic cylinder (4) drives the thorny finger rotating shaft (3) of pivoting finger (7) to rotate with the clamping completing dustbin and release with contraction.
3. the automatic capturing for dustbin according to claim 2, lift and topple over joint institution, it is characterized in that, described finger tips (2) place is provided with the partly finger (6) that a set of elastomeric material is made, described partly finger (6) can around partly referring to that rotating shaft (5) rotates, and the side of described partly finger (6) is connected with finger tips (2) by buffer spring (19).
4. the automatic capturing for dustbin according to Claims 2 or 3, lift and topple over joint institution, it is characterized in that, described segment hoisting mechanism (30) comprises lifting hydraulic cylinder (12) and the stationary rack (13) affixed with catching robot pedestal (1), described lifting hydraulic cylinder (12) upper end is hinged by bearing pin (18) and lifting hydraulic cylinder bearing (11), and lower end is by gear shaft (14) and Double-gear (15) is hinged side by side; Described Double-gear side by side (15) coordinates with stationary rack (13) and mobile rack (22) respectively, and under rack pinion, mobile rack (22) moves up and down to drive whole catching robot (29) to move up and down.
5. the automatic capturing for dustbin according to claim 4, lift and topple over joint institution, it is characterized in that, described mobile rack (22) with upgrade block (21) matrix offers two half bore respectively and coordinates with horizontally disposed two lift shaft (20), the axle head of two described lift shaft (20) is connected with finger pedestal (9) root respectively, finger pedestal (9) root of described finger (7) and the slide block (16) of line slideway affixed, described slide block (16) moves up and down at slide rail (17), described slide rail (17) is affixed with catching robot pedestal (1), described mobile rack (22) moves up and down to drive whole catching robot (29) to move up and down along slide rail (17).
6. the automatic capturing for dustbin according to claim 1 or 2 or 3, lift and topple over joint institution, it is characterized in that, described two degrees of freedom horizontal mobile mechanism (31) comprises the bearing (28) be installed on refuse collector car bottom vehicle frame, Y-direction track (23), Y-direction hydraulic cylinder (27), X is to track (25) and X to hydraulic cylinder (24), described Y-direction track (23) vehicular sideview and segment hoisting mechanism (30) affixed, under the effect of Y-direction hydraulic cylinder (27), Y-direction track (23) is flexible adjustable to realize catching robot (29) lateral attitude, under the effect of X to hydraulic cylinder (24), X is flexible adjustable in horizontal lengthwise position to realize catching robot (29) to track (25).
7. the automatic capturing for dustbin according to claim 1 or 2 or 3, lift and topple over joint institution, it is characterized in that, described lift tipping mechanism (32) comprises clamping device (33), lift slide rail (37), lift hydraulic cylinder (38) and lifting rod (36), clamping device (33) comprises clamping drive motors (34) and drives leading screw (35) to clamp dustbin, from catching robot (29) transfer dustbin to lift tipping mechanism (32), and promote dustbin along slide rail (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410173582.3A CN103922059B (en) | 2014-04-28 | 2014-04-28 | Automatic grabbing, lifting and pouring combined mechanism for garbage can |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410173582.3A CN103922059B (en) | 2014-04-28 | 2014-04-28 | Automatic grabbing, lifting and pouring combined mechanism for garbage can |
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| Publication Number | Publication Date |
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| CN103922059A CN103922059A (en) | 2014-07-16 |
| CN103922059B true CN103922059B (en) | 2015-04-29 |
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| CN201410173582.3A Expired - Fee Related CN103922059B (en) | 2014-04-28 | 2014-04-28 | Automatic grabbing, lifting and pouring combined mechanism for garbage can |
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| CN105129293A (en) * | 2015-07-16 | 2015-12-09 | 冯林 | Garbage truck capable of continuously collecting garbage and garbage can of garbage truck |
| CN105346899B (en) * | 2015-12-08 | 2017-11-10 | 西安石油大学 | A kind of automatic garbage collection device for suppressing airborne dust |
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| CN109675485A (en) * | 2018-12-29 | 2019-04-26 | 浙江天能动力能源有限公司 | A kind of lead storage battery conjunction cream device |
| CN111115070A (en) * | 2020-01-16 | 2020-05-08 | 刘家莲 | Compression transfer car (buggy) is collected to barreled rubbish |
| CN111426462B (en) * | 2020-04-23 | 2022-12-30 | 山东省产品质量检验研究院 | Dynamic load reliability test device for hanging part of plastic garbage can |
| CN111634586A (en) * | 2020-06-02 | 2020-09-08 | 杜立华 | Garbage clearing device |
| CN111959996A (en) * | 2020-07-29 | 2020-11-20 | 同济大学 | Adjustable grabbing device of sanitation car garbage bin |
| CN112124825B (en) * | 2020-09-22 | 2022-10-25 | 同济大学 | Mechanical claw positioning control system of garbage transfer equipment |
| CN112644914A (en) * | 2020-12-28 | 2021-04-13 | 辽宁科技大学 | Automatic flip garbage can |
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| CN202321396U (en) * | 2011-11-07 | 2012-07-11 | 中联重科股份有限公司 | Self-loading and unloading garbage truck and garbage can unloading device thereof |
| CN203094912U (en) * | 2013-01-22 | 2013-07-31 | 海沃机械(扬州)有限公司 | Side-loading garbage truck |
| CN203889428U (en) * | 2014-04-28 | 2014-10-22 | 湖南大学 | Associated mechanism for automatically grasping, lifting and dumping garbage can |
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| US4313707A (en) * | 1977-01-25 | 1982-02-02 | Bingman John W | Side loading apparatus for trash collection system |
| CN202321396U (en) * | 2011-11-07 | 2012-07-11 | 中联重科股份有限公司 | Self-loading and unloading garbage truck and garbage can unloading device thereof |
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