CN110342155B

CN110342155B - Side feeding device, control system and method of bucket holding feeding mechanism and garbage truck

Info

Publication number: CN110342155B
Application number: CN201910622885.1A
Authority: CN
Inventors: 伍革; 刘友林
Original assignee: Changsha Zoomlion Environmental Industry Co Ltd
Current assignee: Changsha Zoomlion Environmental Industry Co Ltd
Priority date: 2019-07-11
Filing date: 2019-07-11
Publication date: 2022-04-19
Anticipated expiration: 2039-07-11
Also published as: CN110342155A

Abstract

The invention discloses a side feeding device, a control system and method of a bucket holding feeding mechanism and a garbage truck. According to the control system of the holding bucket feeding mechanism, garbage feeding operation can be automatically carried out only by sending the starting-up instruction through the instruction sending device by a user, and the holding arm mechanism is controlled to be in the horizontal reference range in the swinging process of the sliding rail mechanism, so that garbage cannot be toppled and leaked, and the work efficiency is greatly improved compared with the existing manual judgment and manual adjustment. And in addition, the current of the third electromagnetic valve, the fourth electromagnetic valve, the fifth electromagnetic valve and the sixth electromagnetic valve is simultaneously adjusted according to the detection result of the first inclination angle sensor in the swinging process of the sliding rail mechanism, so that stable, continuous and high-precision adjustment during the composite action of the system can be realized. The control system of the bucket holding and feeding mechanism has the advantages of being simple to operate and high in automation degree, reduces operation difficulty and complexity, saves time and improves working efficiency.

Description

Side feeding device, control system and method of bucket holding feeding mechanism and garbage truck

Technical Field

The invention relates to the technical field of holding barrel feeding applied to a garbage truck, in particular to a side feeding device, a control system and a method of a holding barrel feeding mechanism for automatically controlling the side feeding device, and a garbage truck comprising the control system of the holding barrel feeding mechanism.

Background

At present, most domestic garbage trucks adopt a garbage can matched with a feeding mechanism to realize the feeding operation of garbage. The feeding mechanism can be divided into a rear feeding mechanism and a side feeding mechanism according to the feeding direction, and the side feeding mechanism can be divided into barrel hanging feeding and barrel holding feeding according to the feeding mode. The hanging barrel needs to be manually unloaded, the barrel holding and loading are mainly used for automatic operation, the manual unloading and hanging barrel link is omitted, and the labor intensity is reduced.

At present, embrace a bucket feed mechanism and be complicated manipulator structure basically, it has following shortcoming:

1. poor layout: the overall length and the transverse width of the whole garbage truck are greatly increased by the layout mode under the condition that the volumes of the garbage bins are the same, so that the maneuverability of the garbage truck is influenced;

2. difficult popularization: the manipulator has a complex structure and more degrees of freedom, so the manipulator is complex to control, high in manufacturing cost and poor in practicability, mainly aims at high-end users, and is difficult to popularize;

3. material leakage is easy: the holding claws are inclined to different degrees in the process of lifting and discharging materials after grabbing the garbage can, and the distance between a discharging port of the garbage can and a discharging port on the garbage can is far, so that garbage leakage is easy to cause, and a material receiving plate needs to be added to the discharging port of the garbage can to ensure that the garbage can not be discharged as much as possible;

4. uneven and stable feeding: the feeding operation is realized by directly adopting the mechanical arm, so that the blanking is avoided as much as possible, the feeding process requires high speed and large impact, the garbage can is easy to damage, and the noise and the dust are high;

5. the self-adaption of the holding claw is poor, and the fault-tolerant rate is low: most of holding arms of the existing holding mechanism are in direct contact with the garbage can, and the shape of the holding arms is fixed, so that the holding arms are easy to contact with the garbage can locally, and the garbage can is easy to be held askew or cannot be held; the existing barrel holding mechanism requires accurate positioning and poor convenience in actual operation.

In addition, the control mode of the domestic garbage truck provided with the garbage can holding and feeding mechanism is mainly manual control, namely the current positions of the swing arm and the holding claw are judged manually, then each operation action is controlled by using a switch box or an electric control handle, the positions of the swing arm and the holding claw are gradually adjusted, and finally the holding claw is adjusted to be in a horizontal state and the swing arm is adjusted to be in a position capable of holding and taking the garbage can. In addition, the position adjustment of the swing arm and the position adjustment of the holding claw need to be carried out separately, the swing arm and the holding claw are in composite action, the position state of the other side can be influenced when the swing arm and the holding claw are independently adjusted, the adjustment difficulty is higher, and the mode of adjusting after manual judgment cannot be used for quickly and accurately adjusting the swing arm and the holding claw to an ideal position.

Disclosure of Invention

The invention provides a side feeding device, a control system and method of a bucket holding feeding mechanism and a garbage truck, and aims to solve the technical problems that the positions of a swing arm and a holding claw cannot be quickly and accurately adjusted and misoperation is easy to occur in the existing bucket holding feeding mechanism in a mode of manual judgment and adjustment.

According to an aspect of the present invention, there is provided a side loading device connected to one side of a garbage can of a garbage truck, the side loading device comprising:

the top cover is used for sealing a feed opening formed in a top plate of the garbage can, a first end of the top cover is hinged with the top plate of the garbage can, and the top cover is connected with a first driving mechanism which is used for driving the top cover to rotate around a hinged point hinged with the top plate of the garbage can so as to open or close the feed opening;

the garbage bin comprises a garbage bin body, and is characterized by further comprising a sliding rail mechanism hinged to one side of the garbage bin and a second driving mechanism used for driving the sliding rail mechanism to rotate around a hinge point hinged with the garbage bin body, wherein a roller trolley is connected onto the sliding rail mechanism in a sliding mode and is connected with a bin holding mechanism, and the bin holding mechanism comprises a holding arm mechanism used for holding or putting down the garbage bin, a fourth driving mechanism used for driving the holding arm mechanism to be opened or folded and a third driving mechanism used for adjusting the holding arm mechanism to enable the holding arm mechanism to keep a horizontal state;

the roller trolley is further connected with the second end of the top cover, and the roller trolley slides to the top end of the sliding rail mechanism in a follow-up mode in the process of opening the top cover, so that the garbage can is turned over to pour the contained garbage into the feed opening downwards, or slides to the bottom end of the sliding rail mechanism in a follow-up mode in the process of closing the top cover, and the garbage can is taken off by the garbage holding mechanism after the garbage is fed.

The system comprises a command issuing device, a controller, an electromagnetic valve group, a first position sensor, a first inclination angle sensor, a second inclination angle sensor, a third position sensor and a fourth position sensor, wherein the command issuing device, the electromagnetic valve group, the first position sensor, the first inclination angle sensor, the second inclination angle sensor, the third position sensor and the fourth position sensor are all connected with the controller, and the electromagnetic valve group is respectively connected with a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism;

the command sending device is used for sending a control command, the first position sensor is used for detecting whether the arm-holding mechanism is opened in place, the first inclination angle sensor is used for detecting the inclination angle of the arm-holding mechanism, the second inclination angle sensor is used for detecting the inclination angle of the slide rail mechanism, the third position sensor is used for detecting whether the top cover is lifted to the right position or not, the fourth position sensor is used for detecting whether the top cover is lowered to the right position or not, the controller is used for collecting the detection results of the sensors after receiving the control command sent by the command sending device, then the electromagnetic valves in the electromagnetic valve group are controlled to be powered on or powered off or the current of the electromagnetic valves is controlled according to the detection result of each sensor, thereby controlling the working states of the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism, and the arm-embracing mechanism is continuously adjusted in the swinging process of the sliding rail mechanism so as to be positioned in the horizontal reference range.

Further, the electromagnetic valve group comprises a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, a fourth electromagnetic valve, a fifth electromagnetic valve, a sixth electromagnetic valve, a seventh electromagnetic valve and an eighth electromagnetic valve, the electromagnetic valves are all connected with the controller, the first electromagnetic valve and the second electromagnetic valve are connected with a fourth driving mechanism, the third electromagnetic valve and the fourth electromagnetic valve are connected with a third driving mechanism, the fifth electromagnetic valve and the sixth electromagnetic valve are connected with a second driving mechanism, and the seventh electromagnetic valve and the eighth electromagnetic valve are connected with the first driving mechanism;

the controller controls the fourth driving mechanism to start extending action by controlling the first electromagnetic valve to be electrified so as to drive the arm embracing mechanism to be opened; the controller controls the fourth driving mechanism to start contraction action by controlling the second electromagnetic valve to be electrified so as to drive the arm embracing mechanism to fold; the controller controls the third driving mechanism to start contraction action by controlling the third electromagnetic valve to be electrified so as to drive the arm-holding mechanism to rotate upwards; the controller controls the third driving mechanism to start to extend by controlling the fourth electromagnetic valve to be electrified so as to drive the arm-embracing mechanism to rotate downwards; the controller controls the second driving mechanism to start extending action by controlling the fifth electromagnetic valve to be electrified so as to drive the sliding rail mechanism to swing outwards; the controller controls the second driving mechanism to start contraction action by controlling the sixth electromagnetic valve to be electrified so as to drive the sliding rail mechanism to swing back inwards; the controller controls the first driving mechanism to start contraction action by controlling the seventh electromagnetic valve to be electrified so as to drive the top cover to rotate and open the feed opening; the controller is electrified through controlling the eighth solenoid valve so as to control the first driving mechanism to start extending action, so as to drive the top cover to rotate and close the feed opening.

Further, the controller controls the current of the third electromagnetic valve or the fourth electromagnetic valve based on the detection result of the first tilt angle sensor, so that the action amplitude of the third driving mechanism is accurately controlled;

and/or the controller controls the current of the fifth electromagnetic valve or the sixth electromagnetic valve based on the detection result of the first inclination angle sensor, so that the action amplitude of the second driving mechanism is accurately controlled.

Further, when the first tilt angle sensor detects that the arm-embracing mechanism deviates from the horizontal reference range, the controller controls the current obtained by electrifying the third electromagnetic valve or the fourth electromagnetic valve to be larger, and simultaneously controls the current obtained by electrifying the fifth electromagnetic valve or the sixth electromagnetic valve to be smaller; when the first inclination angle sensor detects that the arm-embracing mechanism deviates from the horizontal reference range, the controller controls the current obtained by the power of the third electromagnetic valve or the fourth electromagnetic valve to be smaller, and simultaneously controls the current obtained by the power of the fifth electromagnetic valve or the sixth electromagnetic valve to be larger.

Further, the controller is further used for recording the inclination angle of the sliding rail mechanism detected by the second inclination angle sensor when the arm holding mechanism holds the garbage can, and controlling the second driving mechanism to stop operating when the second inclination angle sensor detects that the sliding rail mechanism swings back to the inclination angle position again in the swinging-back process of the sliding rail mechanism.

Further, the control system of the holding-barrel feeding mechanism further comprises an ultrasonic sensor connected with the controller and used for detecting the distance between the holding-arm mechanism and the garbage can, and the controller is used for controlling the fifth electromagnetic valve to be powered off when the ultrasonic sensor detects that the distance between the holding-arm mechanism and the garbage can is smaller than or equal to a preset value, so that the second driving mechanism is controlled to stop acting.

Further, the control system of the bin feeding mechanism further comprises a pressure sensor connected with the controller and used for detecting the holding force of the arm holding mechanism holding the garbage bin, and the controller is used for controlling the second electromagnetic valve to lose power when the pressure sensor detects that the holding force of the arm holding mechanism holding the garbage bin is larger than or equal to a preset value, so that the fourth driving mechanism is controlled to stop acting.

The invention also provides a control method of the bucket holding and feeding mechanism, which adopts the control system of the bucket holding and feeding mechanism and comprises the following steps:

step S1: receiving a starting-up instruction;

step S2: after the arm-embracing mechanism is detected to be opened in place, the sliding rail mechanism is controlled to swing outwards, and the arm-embracing mechanism is continuously adjusted in the swinging process of the sliding rail mechanism so as to be in a horizontal reference range;

step S3: when the distance between the arm-holding mechanism and the garbage can is detected to be smaller than a preset value, the sliding rail mechanism is controlled to stop swinging out, and the arm-holding mechanism is controlled to fold in so as to hold the garbage can tightly;

step S4: when the holding force of the arm holding mechanism is detected to be larger than or equal to the preset value, the sliding rail mechanism is controlled to continuously swing outwards again, and the arm holding mechanism is continuously adjusted to be in the horizontal reference range in the process of continuously swinging out the sliding rail mechanism;

step S5: after the sliding rail mechanism is detected to swing out in place, the sliding rail mechanism is controlled to stop swinging out, and the top cover is controlled to rotate so as to open the discharging opening and simultaneously drive the arm-holding mechanism and the garbage can to slide upwards to the discharging opening along the sliding rail mechanism;

step S6: after the top cover is detected to rotate in place, the top cover is controlled to stop rotating and drive the arm-holding mechanism and the garbage can to stop sliding, and at the moment, the garbage can finishes the unloading operation;

step S7: the top cover is controlled to rotate in the opposite direction, the arm holding mechanism and the garbage can are driven to slide downwards along the slide rail mechanism, and the top cover is controlled to stop rotating and the arm holding mechanism and the garbage can are driven to stop sliding after the top cover is detected to rotate in place;

step S8: controlling the sliding rail mechanism to swing back, and continuously adjusting the arm-embracing mechanism to be within a horizontal reference range in the swinging back process of the sliding rail mechanism;

step S9: controlling the arm-holding mechanism to open to unload the garbage can;

step S10: after the arm-embracing mechanism is detected to be opened in place, controlling the sliding rail mechanism to swing back again, and continuously adjusting the arm-embracing mechanism to be in a horizontal reference range in the process of swinging back again of the sliding rail mechanism;

step S11: stopping working after detecting that the sliding rail mechanism swings back to place

The invention also provides a garbage truck which adopts the control system of the bucket holding and feeding mechanism.

The invention has the following beneficial effects:

the side feeding device is connected to one side of the garbage can on the garbage truck instead of being connected between the cab of the garbage truck and the garbage can, so that the side feeding device does not occupy the volume of the original garbage can, does not cause the increase of the length of the whole garbage truck, can make the structure more compact and has good maneuverability of the whole garbage truck; compared with a mechanical arm structure, the side feeding device has the advantages of simple structure, simple control process, low manufacturing cost and good practicability, is suitable for high-end or common users, and is easy to popularize and apply; the self-adaptive bucket holding mechanism can hold the garbage bucket in a horizontal direction by holding the arms in a crossed manner under the control of the control device, and the self-adaptive bucket holding mechanism can also deform to adapt to the shape of the garbage bucket in the process of holding the garbage bucket so as to more stably hold the garbage bucket.

According to the control system of the holding barrel feeding mechanism, garbage feeding operation can be automatically carried out only by sending a starting-up instruction through the instruction sending device by a user, the holding arm mechanism is always controlled to be in the horizontal reference range in the swinging process of the sliding rail mechanism, the garbage can is in the horizontal state along with the holding arm mechanism, dumping and leakage of garbage cannot occur, and the work efficiency is greatly improved compared with the existing manual judgment and manual adjustment. And in addition, the current of the third electromagnetic valve, the fourth electromagnetic valve, the fifth electromagnetic valve and the sixth electromagnetic valve is simultaneously adjusted according to the detection result of the first inclination angle sensor in the swinging process of the sliding rail mechanism, so that stable, continuous and high-precision adjustment during the composite action of the system can be realized. In addition, the position of the sliding rail mechanism when the arm holding mechanism holds the garbage can is recorded through the second inclination angle sensor, and the sliding rail mechanism is controlled to swing back to the position after garbage unloading is completed, so that the garbage can is held from where and put down where, and fixed-point holding and putting down of the garbage can are realized. The control system of the bucket holding and feeding mechanism has the advantages of being simple to operate and high in automation degree, reduces operation difficulty and complexity, saves time and improves working efficiency.

In addition, the control method of the bucket holding and feeding mechanism and the garbage truck have the advantages.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

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

fig. 1 is a schematic spatial structure diagram of a side feeding device according to a first embodiment of the present invention;

FIG. 2 is a schematic view of the side loading device in FIG. 1 before the garbage can is taken;

FIG. 3 is a schematic view of the garbage can with the side loading device shown in FIG. 1 holding the loaded garbage can;

FIG. 4 is a schematic view of the spatial structure of the track of FIG. 1;

FIG. 5 is a schematic view of a portion of the roller cart of FIG. 1;

FIG. 6 is a schematic view of a bucket unloading state of the adaptive bucket holding mechanism in FIG. 1;

fig. 7 is a schematic view of a bucket holding state of the adaptive bucket holding mechanism in fig. 1.

Fig. 8 is a schematic structural diagram of a control system of a bucket holding and loading mechanism according to a third embodiment of the present invention.

Fig. 9 is a flowchart illustrating a method for controlling a bucket holding and loading mechanism according to a fifth embodiment of the present invention.

Description of the reference numerals

10. Mounting a base; 11. installing a vertical plate; 12. a first mounting transverse plate; 20. a first arm; 21. a first holding claw; 22. a first mounting plate; 30. a second arm; 31. a second holding claw; 32. a second mounting plate; 40. a first compression bar set; 41. a first compression bar; 42. a first restraint bar; 50. a second compression bar set; 61. a fourth drive cylinder/air cylinder; 70. a connecting rod; 80. a first hinge point; 90. a second hinge point; 110. a trash can; 120. a protection block; 130. a connection point; 140. a third hinge point; 150. a fourth hinge point; 160. a dustbin; 170. a top cover; 180. a first drive mechanism; 190. a slide rail mechanism; 191. a slide rail; 1911. a lifting section; 1912. turning over a barrel main section; 1913. turning over the auxiliary barrel section; 192. a connecting rod; 193. a second drive mechanism; 210. a trolley with rollers; 211. installing a shaft; 212. mounting a support plate; 213. a first roller; 214. a second roller; 215. a pull rod; 220. a third drive mechanism; 230. a cushion pad; 100. an instruction issuing device; 101. a controller; 111. a first position sensor; 112. a first tilt sensor; 113. an ultrasonic sensor; 114. a pressure sensor; 115. a second position sensor; 116. a second tilt sensor; 117. a third position sensor; 118. a fourth position sensor; 119. a fifth position sensor.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.

As shown in fig. 1 and 2, a first embodiment of the present invention provides a side loading apparatus attached to one side of a garbage can 160 of a garbage truck, the side loading apparatus including: the top cover 170 is used for sealing the feed opening formed in the top plate of the garbage can 160, the first end of the top cover 170 is hinged to the top plate of the garbage can 160, the top cover 170 is connected with a first driving mechanism 180 which is used for driving the top cover 170 to rotate around a hinged point hinged to the top plate of the garbage can 160 so as to open or close the feed opening, and the first driving mechanism 180 is connected with a control device of the garbage truck. The side feeding device further comprises a sliding rail mechanism 190 hinged to one side of the garbage can 160, the sliding rail mechanism 190 is connected with the control device to rotate around a hinge point hinged to the garbage can 160 to be close to the garbage can 110 to be embraced under the control of the control device, a roller trolley 210 is connected onto the sliding rail mechanism 190, the roller trolley 210 is connected with a self-adaptive can embracing mechanism, the self-adaptive can embracing mechanism is connected with the control device to embrace the garbage can 110 in a horizontal direction in a crossed mode under the control of the control device, and the self-adaptive can embracing mechanism deforms in the process of embracing the garbage can 110 to adapt to the appearance of the garbage can 110 stably embrace the garbage can 110. The roller trolley 210 is connected to the second end of the top cover 170 to slide to the top end of the sliding rail mechanism 190 in a following manner during the opening process of the top cover 170, so that the trash can 110 is turned over to pour the contained trash into the discharge opening, or the roller trolley slides to the bottom end of the sliding rail mechanism 190 in a following manner during the closing process of the top cover 170, so that the self-adaptive can holding mechanism unloads the loaded trash can 110.

The side feeding device is connected to one side of the garbage can 160 on the garbage truck instead of being connected between a cab of the garbage truck and the garbage can, so that the side feeding device does not occupy the volume of the original garbage can, does not cause the increase of the length of the whole garbage truck, can make the structure more compact and has good maneuverability of the whole garbage truck; compared with a mechanical arm structure, the side feeding device has the advantages of simple structure, simple control process, low manufacturing cost and good practicability, is suitable for high-end or common users, and is easy to popularize and apply; the self-adaptive bucket holding mechanism can hold the garbage can 110 in a crossed manner and in a horizontal direction under the control of the control device, and the self-adaptive bucket holding mechanism can also deform to adapt to the shape of the garbage can 110 in the process of holding the garbage can 110 so as to more stably hold and take the garbage can 110.

Alternatively, as shown in fig. 1 to 3, the first driving mechanism 180 includes two first mounting supports oppositely disposed and fixed on the top plate of the trash bin 160, each first mounting support is hinged with a first driving cylinder, the other end of the first driving cylinder is hinged with the top cover 170 disposed correspondingly, and the first driving cylinder is connected with the control device to drive the top cover 170 to rotate around the hinge point hinged with the trash bin 160 under the control of the control device. The top cover 170 includes a cover plate for sealing the feed opening and two connecting bent rods, a first end of the cover plate is hinged to the top plate of the garbage can 160, the two connecting bent rods are oppositely disposed, one end of each connecting bent rod is fixed to a second end of the cover plate, and the other end of each connecting bent rod extends towards the lower portion of the side wall of the garbage can 160.

Optionally, as shown in fig. 1, the sliding rail mechanism 190 includes two sliding rails 191 disposed oppositely, and upper ends of the two sliding rails 191 are respectively hinged to an outer sidewall of the trash can 160 and extend above the trash can 160, so that the roller trolley 210 drives the adaptive bin holding mechanism to hold the trash bin 110 and slide above the feeding opening to feed the trash bin. The lower ends of the two sliding rails 191 are connected through a connecting rod 192, the connecting rod 192 is hinged with a second driving mechanism 193 which is used for driving the two sliding rails 191 to synchronously rotate around a hinge point hinged with the garbage can 160, and the second driving mechanism 193 is also connected with the outer side wall of the garbage can 160 and a control device. Or the lower ends of the two sliding rails 191 are respectively connected with a group of second driving mechanisms 193 which are used for driving the correspondingly arranged sliding rails 191 to rotate around the hinged point hinged with the garbage can 160, and the second driving mechanisms 193 are also connected with the outer side wall of the garbage can 160 and the control device. Specifically, the second driving mechanism 193 includes a second driving cylinder, the mounting end of which is hinged to the side wall of the garbage can 160, the driving end of which is hinged to the connecting rod 192 or the correspondingly arranged sliding rail 191, and the second driving cylinder is connected to the control device to drive the two sliding rails 191 to synchronously swing around the hinged point of the garbage can 160 under the control of the control device, so that the self-adaptive bucket holding mechanism connected to the roller trolley 210 is close to or far from the garbage can 110. The corresponding surfaces of the two sliding rails 191 are respectively provided with an inward-concave sliding groove, the roller trolley 210 is positioned between the two sliding rails 191, and two ends of the roller trolley 210 are respectively connected in the sliding grooves on the corresponding sides in a sliding manner.

In this alternative embodiment, as shown in fig. 4, each chute includes a linear lifting section 1911, a main barrel turning section 1912 intersecting with the top end of the lifting section 1911 and having a linear shape, and an auxiliary barrel turning section 1913 intersecting with the main barrel turning section 1912 and having an arc shape, the main barrel turning section 1912 and the auxiliary barrel turning section 1913 are both located above the trash can 160 and the auxiliary barrel turning section 1913 is located above the main barrel turning section 1912, and the bottom end of the lifting section 1911, the top end of the main barrel turning section 1912 and the top end of the auxiliary barrel turning section 1913 are closed ends to prevent the trolley 210 from sliding out of the sliding rail 191.

As shown in fig. 5, the roller trolley 210 includes a mounting shaft 211, two ends of the mounting shaft 211 are respectively hinged with a pull rod 215, the other end of the pull rod 215 is hinged with the second end of the top cover 170, two end portions of the mounting shaft 211 are respectively provided with a mounting support plate 212, an outer side wall of the mounting support plate 212 is connected with a first roller 213 and a second roller 214 which are arranged in a rolling manner, the first roller 213 and the second roller 214 are both arranged in a sliding groove on the corresponding side in a rolling manner, and the first roller 213 is located above the second roller 214. The first roller 213 and the second roller 214 are used for sliding upwards from the lifting section 1911 to the main barrel turning section 1912 during the opening process of the top cover 170, and the first roller 213 abuts against the closed end of the corresponding main barrel turning section 1912 during the continuous opening process of the top cover 170 so that the second roller 214 turns into the auxiliary barrel turning section 1913 to realize the barrel turning of the trash can 110. The side feeding device of the invention realizes the lifting of the garbage bin 110 and the loading of the turning bin by adopting the matching of the roller trolley 210 and the sliding chute, and has simple structure, simple operation process and low manufacturing and maintenance cost.

Optionally, as shown in fig. 1, 6 and 7, the adaptive bucket holding mechanism includes a mounting base 10 hinged to the mounting shaft 211 and configured to abut against an outer wall of the trash can 110 when holding the bucket, and an arm holding mechanism is disposed on the mounting base 10 and connected to the control device to hold the trash can 110 after the arm holding mechanism is crossed under the control of the control device. The self-adaptive bucket holding mechanism further comprises a third driving mechanism 220 respectively hinged to the mounting shaft 211 and the mounting base 10, and the third driving mechanism 220 is connected with the control device so that the mounting base 10 rotates around a hinge point hinged to the mounting shaft 211 to enable the arm holding mechanism to horizontally hold the garbage bucket 110 in the process that the sliding rail 191 swings around the hinge point hinged to the garbage can 160 under the control of the control device. Specifically, the third driving mechanism 220 includes a third driving cylinder, the mounting end of the third driving cylinder is hinged to the mounting shaft 211, the driving end of the third driving cylinder is hinged to the mounting base 10, and the third driving cylinder is connected to the control device to drive the mounting base 10 to rotate around the hinge point hinged to the mounting shaft 211 under the control of the control device, so that the arm-clasping mechanism rotates around the mounting shaft 211, so that the arm-clasping mechanism can clasp the trash can 110 horizontally in the process of swinging the sliding rail 191 around the hinge point hinged to the trash can 160, so as to prevent the trash can 110 from leaking due to tilting.

When the side feeding device works, the control device controls the second driving oil cylinder/air cylinder to act so that the sliding rail 191 deflects outwards around the hinge point, and then the garbage can holding mechanism and the garbage can 110 stop moving after reaching a proper garbage holding distance, as shown in fig. 3, the sliding rail 191 deflects by an angle of alpha under the driving of the second driving oil cylinder/air cylinder, and the upper end of the sliding rail 191 moves anticlockwise around the O2, so that the main barrel turning section 1912 of the sliding rail 191 approaches to the feeding port, and further the feeding port when the garbage can 110 is fed is located in the feeding port, and the garbage is ensured to be free from leakage; in the process of outward swinging of the sliding rail 191 by an angle α, the control device controls the third driving oil cylinder/air cylinder to drive the mounting base 10 to clockwise swing by an angle α around the point O3, so that the arm holding mechanism is always in a horizontal state, and the control device controls the barrel holding mechanism to act to hold the garbage can 110; after the garbage can 110 is taken by the garbage can holding mechanism, the control device controls the first driving oil cylinder/air cylinder to act to open the top cover 170, the roller trolley 210 is pulled by the pull rod 215 to slide upwards along the slide rail 191 in the opening process of the top cover 170, when the roller trolley 210 reaches the top end of the lifting section 1911, the roller trolley starts to enter the can turning main section 1912, when the first roller 213 reaches the top end position of the can turning main section 1912, the roller trolley 210 drives the garbage can holding mechanism to rotate together under the action of the pull rod 215, and the second roller 214 turns into the can turning auxiliary section 1913 until the second roller moves to the top end position of the can turning auxiliary section 1913, so that the can turning action of the garbage can is completed; when certain specific garbage cannot be poured out, the first driving oil cylinder/air cylinder drives the top cover 170 to drive the roller trolley 210 to shake in a reciprocating manner for a certain short distance, so that the garbage can be discharged out of the garbage can 110; the unloading motion of the garbage bin 110 after the loading is completed is reversible. Preferably, to reduce the mechanism shock when the dump rail 191 unlocks the bin back, a cushion pad 230 is added to the outside wall of the bin 160.

Further, as shown in fig. 6 and 7, the arm embracing mechanism includes a first embracing arm 20 and a second embracing arm 30 which are disposed on the mounting base 10 and are respectively hinged to the mounting base 10, and the first embracing arm 20 and the second embracing arm 30 are disposed opposite to each other and connected to each other. The first arm 20 is connected with the first compressing bar group 40 with two ends respectively connected with the first arm 20 and the mounting base 10, and the second arm 30 is connected with the second compressing bar group 50 with two ends respectively connected with the second arm 30 and the mounting base 10. The mounting base 10 is further provided with a fourth driving mechanism connected with the control device, the fourth driving mechanism is connected with the first embracing arm 20 or the second embracing arm 30 to drive the first embracing arm 20 and the second embracing arm 30 to synchronously and relatively rotate around respective hinge points in the direction of embracing the garbage can 110, and further correspondingly pull the first pressing strip group 40 and the second pressing strip group 50 to relatively press the outer wall of the garbage can 110 to embrace the garbage can 110, or the fourth driving mechanism is used for driving the first embracing arm 20 and the second embracing arm 30 to synchronously and relatively rotate around respective hinge points in the direction of being far away from the garbage can 110, so that the first pressing strip group 40 and the second pressing strip group 50 release the garbage can 110.

When the self-adaptive garbage can embracing mechanism disclosed by the invention is used for embracing and taking the garbage can 110, the fourth driving mechanism is started firstly to drive the first embracing arm 20 and the second embracing arm 30 to synchronously and relatively rotate around respective hinge points in the direction of embracing the garbage can 110, so that the first embracing arm 20 pulls the first pressing strip group 40 to press the outer wall of the garbage can 110, meanwhile, the second embracing arm 30 pulls the second pressing strip group 50 to press the outer wall of the garbage can 110, and at the moment, the first embracing arm 20 and the second embracing arm 30 are matched to embrace the garbage can 110, so that the can embracing is realized. When the barrel needs to be unloaded, the fourth driving mechanism is driven to act, so that the first arm 20 and the second arm 30 synchronously rotate around respective hinge points in the direction away from the garbage can 110, and the first pressing bar group 40 and the second pressing bar group 50 release the pressed garbage can 110 to realize the unloading of the barrel. In the self-adaptive bucket holding mechanism, when the bucket is held, as shown in fig. 2, the holding arm is in contact with the garbage can 110 through the elastic pressing strip group to hold the garbage can 110 tightly, and the garbage can 110 is held through the friction force between the holding arm and the garbage can 110, when the bucket is held, the deformation shape of the elastic pressing strip group can be changed according to different appearances of the garbage can, and the opening degree of the holding arm can be automatically adjusted according to the appearance size of the garbage can. On the other hand, because the first arm 20 and the second arm 30 are both in a mechanical synchronization structure and are driven synchronously by the fourth driving mechanism, the phenomenon that the first arm 20 and the second arm 30 are out of synchronization when the garbage can is not in the center of the arm can be avoided, and the manufacturing cost of the garbage can holding mechanism can be reduced.

Alternatively, as shown in fig. 6 and 7, both the first hinge point 80 where the first arm 20 is hinged to the mounting base 10 and the second hinge point 90 where the second arm 30 is hinged to the mounting base 10 are arranged at intervals. The first hinge point 80 is located at the inner side of the second arm 30 when the garbage can 110 is embraced by the second arm, and the second hinge point 90 is located at the inner side of the garbage can 110 is embraced by the first arm 20, so that the first arm 20 and the second arm 30 form an overlapped cross arm when the garbage can 110 is embraced by the first arm 20 and the second arm 30. Because the first holding arm 20 and the second holding arm 30 form overlapping and intersecting holding arms when holding the trash can 110, as shown in fig. 7, not only the contact area between the compression bar group and the trash can is increased, the can holding force is increased, the application range of the trash can is improved, but also a pressing force pressing the trash can be applied to the mounting base 10, so that the fastening of the trash can is ensured more reliably.

Furthermore, the first arm 20 is provided with a through hole (not shown) through which the second arm 30 passes so that the first arm 20 and the second arm 30 form an overlapping cross arm. Or the second embracing arm 30 is provided with a penetrating port through which the first embracing arm 20 penetrates so that the first embracing arm 20 and the second embracing arm 30 form an overlapped and crossed embracing arm, which is not shown in the figure.

Alternatively, as shown in fig. 6 and 7, the first embracing arm 20 includes a first embracing claw 21 and a first mounting plate 22 which are connected in sequence. The first end of the first embracing claw 21 is hinged to the mounting base 10 through a first hinge point 80, and a through socket is arranged on the first embracing claw 21. The two ends of the first pressing strip group 40 are respectively connected with the mounting base 10 and the first mounting plate 22 so as to press the outer wall of the garbage can 110 tightly under the pulling of the first mounting plate 22 in the process of the first embracing arm 20 embracing the garbage can 110. Specifically, the first mounting plate 22 is a thin steel plate that can be deformed by force. The first mounting plate 22 is adapted to deform according to the shape of the trash can 110, so as to pull the first pressing bar group 40 to press the outer wall of the trash can 110.

Further, as shown in fig. 6 and 7, the first pressing bar group 40 includes a first pressing bar 41 for pressing the outer wall of the trash can 110, and a first constraining bar 42 for constraining the first pressing bar 41. Both ends of the first pressing bar 41 are connected to the free ends of the mounting base 10 and the first mounting plate 22, respectively. The first restriction bar 42 is located between the first mounting plate 22 and the first pressing bar 41, and both ends of the first restriction bar 42 are connected to the first mounting plate 22 and the first pressing bar 41, respectively. Because the length of the first pressing strip 41 is long, in order to prevent the first pressing strip 41 from falling and being incapable of conveniently and quickly holding and taking the garbage can 110, in the invention, the first restraint strip 42 is arranged, so that the first restraint strip 42 is connected between the first mounting plate 22 and the first pressing strip 41 to restrain the first pressing strip 41 and prevent the first pressing strip 41 from falling, and the garbage can 110 can be conveniently and quickly held and taken by the first pressing strip 41. Specifically, the first pressing strip 41 and the first restraining strip 42 are both rubber strips.

Alternatively, as shown in fig. 6 and 7, the second embracing arm 30 includes a second embracing claw 31 and a second mounting plate 32 which are connected in sequence. The first end of the second holding claw 31 is hinged to the mounting base 10 through a second hinge point 90, and the second holding claw 31 is inserted into the insertion opening of the first holding claw 21. The two ends of the second pressing strip group 50 are respectively connected with the mounting base 10 and the second mounting plate 32, so as to press the outer wall of the garbage can 110 under the pulling of the second mounting plate 32 in the process of the second embracing arm 30 embracing the garbage can 110. Specifically, the second mounting plate 32 is a thin steel plate that can be deformed by force. The second mounting plate 32 is adapted to deform according to the shape of the trash can 110, so as to pull the second pressing bar set 50 to press the outer wall of the trash can 110.

Further, as shown in fig. 6 and 7, the second pressing bar group 50 has the same structure as the first pressing bar group 40, and includes a second pressing bar for pressing the outer wall of the trash can 110, and a second constraining bar for constraining the second pressing bar. The two ends of the second hold-down bar are connected to the free ends of the mounting base 10 and the second mounting plate 32, respectively. The second restriction strip is located between the second mounting plate 32 and the second pressing strip, and two ends of the second restriction strip are connected with the second mounting plate 32 and the second pressing strip respectively. Because the second pressing strip is long, in order to prevent the second pressing strip from falling and being incapable of conveniently and quickly holding the garbage can 110, in the invention, a second constraint strip is arranged, so that the second constraint strip is connected between the second mounting plate 32 and the second pressing strip to constrain the second pressing strip, the second pressing strip is prevented from falling, and the garbage can 110 can be conveniently and quickly held by the second pressing strip. Specifically, the second pressing strip and the second constraint strip are both rubber strips.

Optionally, as shown in fig. 6 and 7, the adaptive bucket holding mechanism further includes a connecting rod 70, and both ends of the connecting rod 70 are respectively hinged to the first holding arm 20 and the second holding arm 30, so that the first holding arm 20 and the second holding arm 30 synchronously rotate around their respective hinge points under the action of the fourth driving mechanism. The fourth driving mechanism comprises a fourth driving oil cylinder/air cylinder 61 fixedly arranged on the mounting base 10, and a driving end of the fourth driving oil cylinder/air cylinder 61 is fixedly connected with the first arm-embracing 20 through a driving shaft.

As shown in fig. 7, the point at which the driving end of the fourth driving cylinder/air cylinder 61 is fixedly connected to the first arm 20 through the driving shaft is a connection point 130. The hinge point of the connecting rod 70 and the first embracing arm 20 is a third hinge point 140, and the hinge point of the connecting rod 70 and the second embracing arm 30 is a fourth hinge point 150. When the garbage can is embraced, from the state shown in fig. 6 to the state shown in fig. 7, the driver controls the fourth driving oil cylinder/air cylinder 61 to contract, the fourth driving oil cylinder/air cylinder 61 pulls the first embracing arm 20 to rotate counterclockwise around the first hinge point 80, when the first embracing arm 20 rotates counterclockwise around the first hinge point 80, the first embracing arm 20 pulls the second embracing arm 30 through the connecting rod 70 to synchronously rotate clockwise around the second hinge point 90, and the first embracing arm 20 and the second embracing arm 30 are relatively closed to embrace the garbage can 110. When the garbage can is unloaded, the state shown in fig. 7 is changed to the state shown in fig. 6, the driver controls the fourth driving oil cylinder/air cylinder 61 to extend, the fourth driving oil cylinder/air cylinder 61 pulls the first arm 20 to rotate clockwise around the first hinge point 80, when the first arm 20 rotates clockwise around the first hinge point 80, the first arm 20 pulls the second arm 30 to rotate counterclockwise around the second hinge point 90 synchronously through the connecting rod 70, and the first arm 20 and the second arm 30 are relatively far away to release the clamped garbage can 110. In the invention, the mechanism is assembled by adopting the common connecting rod, the arm and the pin shaft at the hinged part, is convenient to lubricate, has high maintainability and reliability, is convenient to lubricate, and has low requirement on the cleanliness of the working environment.

Preferably, as shown in fig. 6, the fourth driving cylinder 61 is disposed above the first arm 20 and the second arm 30 in parallel. When the fourth driving oil cylinder/air cylinder 61 is parallelly arranged above the first holding arm 20 and the second holding arm 30, the transverse space of the holding arms can be reduced to the maximum extent, the distance between a blanking opening and a material pouring opening is reduced, and material leakage is avoided when the garbage can is turned over during feeding.

Alternatively, as shown in fig. 6 and 7, the mounting base 10 includes a mounting riser 11 vertically arranged, a first mounting cross plate 12 and a second mounting cross plate vertically connected to the mounting riser 11. First hinge point 80 department is equipped with first articulated shaft, and second hinge point 90 department is equipped with the second articulated shaft, and the both ends of first articulated shaft and second articulated shaft are fixed with first installation diaphragm 12 and second installation diaphragm respectively. The lower surface of first installation diaphragm 12 is equipped with the first installation axle and the second installation axle of the first installation diaphragm 12 of perpendicular to, and first installation axle is connected with the lower surface fixed of first installation diaphragm 12, and the bottom of second installation axle is fixed with first armful arm 20. The fourth driving oil cylinder 61 is arranged on the first installation shaft and the second installation shaft, and the driving end of the fourth driving oil cylinder 61 is fixed with the second installation shaft.

Preferably, a protection block 120 is arranged on a vertical surface of the installation vertical plate 11 on the side far away from the first installation horizontal plate 12, and the protection block 120 is used for abutting against the outer wall of the garbage can 110 so as to prevent the garbage can 110 from being damaged by the top of the installation base 10. Specifically, the protective block 120 is a rubber block.

Referring to fig. 1, a garbage truck is further provided in a second embodiment of the present invention, which includes the side feeding device according to the first embodiment. The garbage truck comprises the side feeding device in the first embodiment, so that the garbage truck does not occupy the volume of an original garbage can, the length of the whole garbage truck is not increased, the structure is more compact, and the maneuverability of the whole garbage truck is good; compared with the existing mechanical arm structure, the garbage truck has the advantages of simple structure, simple control process, low manufacturing cost and good practicability, is suitable for high-end or common users, and is easy to popularize and apply; the self-adaptive bucket holding mechanism can hold the garbage can 110 in a crossed manner and be used for holding the garbage can 110 horizontally all the time under the control of the control device, and the self-adaptive bucket holding mechanism can also deform to adapt to the shape of the garbage can 110 in the process of holding the garbage can 110 so as to more stably hold and take the garbage can 110.

As shown in fig. 8, the third embodiment of the present invention further provides a control system for a bucket holding and feeding mechanism, which is preferably used for controlling the side feeding device according to the first embodiment, so as to achieve automatic feeding and discharging, and has the advantages of simple operation, high automation degree, operation labor saving and work efficiency improvement. The control system of the bucket holding and feeding mechanism comprises an instruction sending device 100, a controller 101, an electromagnetic valve group 102 and various sensors, wherein the instruction sending device 100, the electromagnetic valve group 102 and the various sensors are all connected with the controller 101, the electromagnetic valve group 102 is further connected with a driving mechanism, for example, when the control system is used for controlling the side feeding mechanism in the first embodiment, the electromagnetic valve group 102 is respectively connected with a first driving mechanism 180, a second driving mechanism 193, a third driving mechanism 220 and a fourth driving mechanism. The instruction issuing device 100 is configured to issue a control instruction, for example, the instruction issuing device 100 may issue a power-on instruction or a power-off instruction, the controller 101 collects signals of various sensors after receiving the power-on instruction, and then controls the solenoid valve set 102 to be powered on or powered off or the current of the solenoid valve set according to detection results of the various sensors, so as to control each driving mechanism to start to operate. The instruction issuing device 100 may be a key, a control handle, a touch screen, or a remote controller, and the controller 101 is a PLC controller.

Specifically, the control system of the bucket holding and feeding mechanism comprises a first position sensor 111, a first inclination angle sensor 112, an ultrasonic sensor 113, a pressure sensor 114, a second position sensor 115, a second inclination angle sensor 116, a third position sensor 117, a fourth position sensor 118 and a fifth position sensor 119, which are all connected with the controller 101. The first position sensor 111 is configured to detect whether the arm embracing mechanism is opened in place, that is, detect whether the first arm embracing 20 and the second arm embracing 30 rotate in place, and when the first arm embracing 20 and the second arm embracing 30 rotate in place, the trash can 110 can be embraced. The first inclination angle sensor 112 is used for detecting the inclination angle of the arm-holding mechanism, and the ultrasonic sensor 113 is used for detecting the distance between the arm-holding mechanism and the garbage can 110. The pressure sensor 114 is used for detecting the pressure of the fourth driving mechanism when the arm mechanism holds the garbage can 110, that is, detecting the holding force when the arm mechanism holds the garbage can 110. The second position sensor 115 is configured to detect whether the sliding rail mechanism 190 is swung in place, and the second tilt sensor 116 is configured to detect a tilt angle of the sliding rail mechanism 190. The third position sensor 117 is used for detecting whether the top cover 170 is lifted in place, because the top cover 170, the pull rod 215 and the arm-embracing mechanism are in linkage relationship, so that whether the pull rod 215, the arm-embracing mechanism and the garbage can 110 are lifted in place can be indirectly detected, and it can be understood that when the third position sensor 117 detects that the top cover 170 is lifted in place, the garbage can 110 has completed the can turning action or is executing the can turning action. The fourth position sensor 118 is used to detect whether the top cover 170 is lowered to the proper position, so that the pull rod 215, the arm mechanism and the trash can 110 can be indirectly detected. The fifth position sensor 119 is used for detecting whether the sliding rail mechanism 190 swings back to the right position.

The electromagnetic valve set 102 comprises a first electromagnetic valve 1021, a second electromagnetic valve 1022, a third electromagnetic valve 1023, a fourth electromagnetic valve 1024, a fifth electromagnetic valve 1025, a sixth electromagnetic valve 1026, a seventh electromagnetic valve 1027 and an eighth electromagnetic valve 1028, wherein the first electromagnetic valve 1021 is respectively connected with the controller 101 and the fourth driving mechanism, the first electromagnetic valve 1021 opens the valve for the arm embracing mechanism, and the controller 101 can control the first electromagnetic valve 1021 to be electrified so as to control the fourth driving oil cylinder/air cylinder 61 of the fourth driving mechanism to start the extending action, thereby controlling the arm embracing mechanism to be opened. The second electromagnetic valve 1022 is also connected to the controller 101 and the fourth driving mechanism, the second electromagnetic valve 1022 is a clasping arm closing valve, and the controller 101 can control the second electromagnetic valve 1022 to be energized, so as to control the fourth driving cylinder/cylinder 61 of the fourth driving mechanism to start a contraction action, and further control the clasping arm mechanism to be closed to clasp the trash can 110. Third solenoid valve 1023 is connected with controller 101 and third actuating mechanism 220 respectively, third solenoid valve 1023 is for embracing the arm valve of screwing up, controller 101 can control third solenoid valve 1023 and get electric, and then control third actuating mechanism 220 and begin the shrink action, thereby can drive and embrace arm mechanism upwards to rotate, thereby the adjustment is embraced arm mechanism and for the inclination of horizontal plane, embrace arm mechanism and can hold garbage bin 110 steadily for guaranteeing to hold in-process at last unloading to and ensure that rubbish in the garbage bin 110 can not take place to empty the leakage, embrace arm mechanism and need remain the horizontality all the time. The fourth electromagnetic valve 1024 is connected with the controller 101 and the third driving mechanism 220 respectively, the fourth electromagnetic valve 1024 is an arm-embracing screw-down valve, the controller 101 can control the fourth electromagnetic valve 1024 to be electrified, and then control the third driving mechanism 220 to start extending action, thereby driving the arm-embracing mechanism to rotate downwards, and adjusting the inclination angle of the arm-embracing mechanism relative to the horizontal plane. It is to be understood that, as a preferable mode, in order to accurately control the tilting angle of the arm embracing mechanism with respect to the horizontal, the controller 101 may control the operation range of the third driving mechanism 220 by controlling the current magnitude of the third solenoid valve 1023 or the fourth solenoid valve 1024, and further accurately adjust the tilting angle of the arm embracing mechanism so that the arm embracing mechanism is always kept in the approximately horizontal state. The fifth electromagnetic valve 1025 is respectively connected with the controller 101 and the second driving mechanism 193, the fifth electromagnetic valve 1025 is a slide rail swinging valve, and the controller 101 can control the fifth electromagnetic valve 1025 to be powered on so as to control the second driving mechanism 193 to start to extend, so that the slide rail mechanism 190 is driven to swing outwards to drive the arm embracing mechanism and the garbage can 110 to swing upwards. The sixth electromagnetic valve 1026 is connected with the controller 101 and the second driving mechanism 193 respectively, the sixth electromagnetic valve is a sliding rail swing valve, the controller 101 can control the sixth electromagnetic valve 1026 to be powered on, and then control the second driving mechanism 193 to start to contract, so as to drive the sliding rail mechanism 190 to swing back inwards to drive the arm embracing mechanism and the garbage can 110 to swing downwards. Preferably, the controller 101 may further control the current magnitude of the fifth electromagnetic valve 1025 or the sixth electromagnetic valve 1026, and further control the action amplitude of the second driving mechanism 193, so as to accurately adjust the swing angle of the sliding rail mechanism 190. The seventh electromagnetic valve 1027 is respectively connected with the controller 101 and the first driving mechanism 180, the seventh electromagnetic valve 1027 is a barrel lifting valve, the controller 101 can control the seventh electromagnetic valve 1027 to be electrified, and then control the first driving mechanism 180 to start to contract, so as to drive the top cover 170 to rotate around a hinge point hinged with a top plate of the garbage can 160 to open a feed opening, and simultaneously drive the roller trolley 210, the arm embracing mechanism and the garbage can 110 to slide upwards along the sliding rail mechanism 190. The eighth electromagnetic valve 1028 is connected to the controller 101 and the first driving mechanism 180, the eighth electromagnetic valve 1028 is a barrel unloading valve, and the controller 101 can control the eighth electromagnetic valve 1028 to be powered on, so as to control the first driving mechanism 180 to start to extend, so as to drive the top cover 170 to rotate to close the feed opening, and simultaneously drive the roller trolley 210, the arm holding mechanism and the garbage can 110 to slide downwards along the sliding rail mechanism 190.

The control system of the bucket holding and feeding mechanism in the embodiment has the following specific control processes: the user sends a starting-up instruction through the instruction sending device 100, after the controller 101 receives the starting-up instruction, it is first determined whether the first position sensor 111 senses that the arm embracing mechanism is opened in place, that is, it is detected that the arm embracing mechanism is not opened in place, if the first position sensor 111 does not sense, that is, the arm embracing mechanism is not opened in place, the controller 101 controls the first electromagnetic valve 1021 to be powered on, so that the fourth driving mechanism is controlled to start to extend, and then the arm embracing mechanism is driven to be opened until the first position sensor 111 senses that the arm embracing mechanism is opened in place, and at this time, the opening range of the arm embracing mechanism is enough to accommodate the garbage bin 110. Then the controller 101 controls the first electromagnetic valve 1021 to lose power, the fourth driving mechanism stops the extending action, the arm embracing mechanism does not continue to be opened, meanwhile, the controller 101 controls the fifth electromagnetic valve 1025 to be powered, the second driving mechanism 193 is controlled to start the extending action to drive the slide rail mechanism 190 to swing upwards, and at the moment, the arm embracing mechanism swings upwards along with the slide rail mechanism 190. In the process that the slide rail mechanism 190 swings upwards, the controller 101 further reads data of the first tilt angle sensor 112, and when it is determined that the arm embracing mechanism deviates from a preset horizontal value range and is in a declination state, the controller 101 controls the third electromagnetic valve 1023 to be powered on, and further controls the third driving mechanism 220 to drive the arm embracing mechanism to rotate upwards, so that the arm embracing mechanism can keep a horizontal state; when the arm embracing mechanism deviates from the preset horizontal value range and is in an upward inclination state, the controller 101 controls the fourth electromagnetic valve 1024 to be powered on, and further controls the third driving mechanism 220 to drive the arm embracing mechanism to rotate downwards, so that the arm embracing mechanism can keep a horizontal state. Preferably, the controller 101 may control the action range of the third driving mechanism 220 by controlling the magnitude of the current obtained by energizing the third solenoid valve 1023 or the fourth solenoid valve 1024, so as to accurately control the adjustment angle of the arm embracing mechanism and prevent overcorrection. When the ultrasonic sensor 113 detects that the distance between the arm embracing mechanism and the garbage can 110 is smaller than or equal to a preset value, a feedback signal is generated and transmitted to the controller 101, the controller 101 controls the fifth electromagnetic valve 1025 to lose power according to the feedback signal, the second driving mechanism 193 stops extending, so that the sliding rail mechanism 190 stops swinging upwards, the controller 101 reads data A of the second inclination angle sensor 116 at the moment, namely, the current inclination angle of the sliding rail mechanism 190 is recorded, namely, the position of the sliding rail mechanism 190 when the arm embracing mechanism embraces the garbage can 110 is recorded. The controller 101 controls the second electromagnetic valve 1022 to be powered on, so as to control the fourth driving mechanism to start a contraction action, so as to drive the arm mechanism to fold, thereby clasping the trash can 110. When the controller 101 determines that the pressure of the fourth driving mechanism detected by the pressure sensor 114 is greater than or equal to the preset value, that is, the holding force of the arm holding mechanism is enough to hold the trash can 110 tightly, if the fourth driving mechanism contracts continuously again, the trash can 110 may be damaged or the fourth driving mechanism burns out, the controller 101 controls the second electromagnetic valve 1022 to lose power, the fourth driving mechanism stops contracting, and the arm holding mechanism stops folding. Then, the controller 101 controls the fifth electromagnetic valve 1025 to be powered on, and the second driving mechanism 193 continues to extend, so as to drive the sliding rail mechanism 190 to swing outwards. In the process that the sliding rail mechanism 190 continuously swings out, the controller 101 continuously reads the detection result of the first tilt angle sensor 112, and continuously adjusts the magnitude of the power-on current of the third electromagnetic valve 1023 or the fourth electromagnetic valve 1024 according to the detection result, so as to accurately control the adjustment angle of the arm embracing mechanism, and the arm embracing mechanism and the garbage can 110 are kept in a horizontal state. When the second position sensor 115 senses that the sliding rail mechanism 190 swings out in place, the controller 101 controls the fifth electromagnetic valve 1025 to lose power, the second driving mechanism 193 stops operating, the sliding rail mechanism 190 stops swinging out, and the controller 101 controls the seventh electromagnetic valve 1027 to be powered, so that the first driving mechanism 180 is controlled to start contracting to drive the top cover 170 to rotate, thereby opening the discharging opening, and simultaneously driving the roller trolley 210, the arm embracing mechanism and the garbage can 110 to slide upwards along the sliding rail mechanism 190. When the third position sensor 117 senses that the top cover 170 is lifted to the right position, the controller 101 controls the seventh electromagnetic valve 1027 to lose power, the first driving mechanism 180 stops, and the garbage can 110 finishes tipping and discharging. At this time, the loading operation of the trash can 110 is completed. It can be understood that when a specific garbage in the garbage can 110 cannot be poured out smoothly, the controller 101 can sequentially control the first electromagnetic valve 1021 and the second electromagnetic valve 1022 to be powered on respectively, so as to control the first driving mechanism 180 to extend and retract back and forth to drive the roller trolley 210 to shake back and forth for a certain short distance, so as to discharge all the garbage in the garbage can 110.

After stopping for several seconds, the controller 101 controls the eighth electromagnetic valve 1028 to be powered on, so as to control the first driving mechanism 180 to start to extend, so as to drive the top cover 170 to rotate in the opposite direction, thereby closing the discharge opening, and simultaneously drive the roller trolley 210, the arm-clasping mechanism and the garbage can 110 to slide downwards along the sliding rail mechanism 190. When the fourth position sensor 118 senses that a feedback signal is sent to the controller 101, that is, the fourth position sensor 118 detects that the top cover 170 descends to a certain position, the controller 101 controls the eighth solenoid valve 1028 to lose power, and the first driving mechanism 180 stops operating. Then the controller 101 controls the sixth electromagnetic valve 1026 to be powered on, so as to control the second driving mechanism 193 to start to contract, so as to drive the sliding rail mechanism 190 to swing back inwards, and the arm embracing mechanism and the garbage can 110 also swing back together with the sliding rail mechanism, during the swinging back process of the sliding rail mechanism 190, the controller 101 continuously reads the detection result of the first tilt angle sensor 112, and continuously adjusts the magnitude of the powered current of the third electromagnetic valve 1023 or the fourth electromagnetic valve 1024 according to the detection result, so as to accurately control the adjustment angle of the arm embracing mechanism, so as to enable the arm embracing mechanism and the garbage can 110 to keep a horizontal state. When the second tilt sensor 116 detects that the tilt angle of the slide rail mechanism 190 and the previous data a are within an error range, that is, the second tilt sensor 116 detects that the slide rail mechanism 190 returns to the position where the arm embracing mechanism embraces the trash can 110, the controller 101 controls the sixth electromagnetic valve 1026 to lose power, the second driving mechanism 193 stops operating, the controller 101 controls the first electromagnetic valve 1021 to be powered, the fourth driving mechanism starts to extend to drive the arm embracing mechanism to open, so as to loosen the trash can 110, when the first position sensor 111 detects that the arm embracing mechanism is opened in place, a feedback signal is generated and transmitted to the controller 101, at this time, the arm embracing mechanism completely loosens the trash can 110, the controller 101 controls the first electromagnetic valve 1021 to lose power, and the arm embracing mechanism does not continue to open any more. Then the controller 101 controls the sixth electromagnetic valve 1026 to be powered on, the second driving mechanism 193 starts to contract to drive the sliding rail mechanism 190 to continuously swing back inwards, and the controller 101 continuously reads the detection result of the first tilt angle sensor 112 during the process that the sliding rail mechanism 190 continuously swings back inwards, and continuously adjusts the magnitude of the powered current of the third electromagnetic valve 1023 or the fourth electromagnetic valve 1024 according to the detection result, so as to accurately control the adjustment angle of the arm embracing mechanism, and thus the arm embracing mechanism keeps a horizontal state. When the fifth position sensor 119 detects that the sliding rail mechanism 190 swings back to the proper position, a feedback signal is generated and transmitted to the controller 101, at this time, the sliding rail mechanism 190 swings back to the initial position, the controller 101 controls all the electromagnetic valves to be powered off, and the whole process is finished.

It can be understood that, as a preferable mode, the controller 101 simultaneously adjusts the current magnitude of the third solenoid valve 1023, the fourth solenoid valve 1024, the fifth solenoid valve 1025 and the sixth solenoid valve 1026 according to the detection result of the first tilt sensor 112, specifically, when the first tilt sensor 112 detects that the arm embracing mechanism deviates from the horizontal reference range, the larger the current of the controller 101 controlling the third solenoid valve 1023 or the fourth solenoid valve 1024 is electrified, and the smaller the current of the controller 101 controlling the fifth solenoid valve 1025 or the sixth solenoid valve 1026 is electrified, so that the arm embracing mechanism can be quickly and accurately adjusted to the horizontal reference range; when the first tilt angle sensor 112 detects that the arm-embracing mechanism deviates from the horizontal reference range, the current obtained by controlling the third electromagnetic valve 1023 or the fourth electromagnetic valve 1024 by the controller 101 is smaller, and the current obtained by controlling the fifth electromagnetic valve 1025 or the sixth electromagnetic valve 1026 by the controller 101 is larger, so that the slide rail mechanism 190 and the arm-embracing mechanism can be quickly swung in place, and the feeding efficiency is improved. The third solenoid valve 1023, the fourth solenoid valve 1024, the fifth solenoid valve 1025 and the sixth solenoid valve 1026 may be electric proportional valves, or switching valves, and in order to improve control accuracy and stability, the electric proportional valves are preferably electric proportional valves, and the electric proportional valves can control hydraulic displacement by adjusting the current of the valve group, so as to realize accurate control of the third driving mechanism 220 and the second driving mechanism 193.

It can be understood that whether the sliding rail mechanism 190 swings out in place or not is detected by the second position sensor 115, and whether the sliding rail mechanism 190 swings back in place or not is detected by the fifth position sensor 119, so that the accuracy of the detection result can be ensured, and the reliability of the system is improved. However, as a modification, the second position sensor 115 and the fifth position sensor 119 may be omitted, and the second tilt sensor 116 may detect the tilt angle of the slide rail mechanism 190, thereby indirectly detecting whether the slide rail mechanism 190 is swung out of position or swung back into position.

It is further understood that, as a variation, the ultrasonic sensor 113 may be omitted, and the inclination angle of the sliding rail mechanism 190 when the arm mechanism embraces the trash can 110 may be preset, and when the two inclination sensors 116 detect that the sliding rail mechanism 190 swings to the preset inclination angle position, the controller 101 controls the fifth electromagnetic valve 1025 to be powered off, and the second driving mechanism 193 stops operating.

According to the control system of the holding barrel feeding mechanism, garbage feeding operation can be automatically carried out only by sending a starting-up instruction through the instruction sending device 100 by a user, the holding arm mechanism is always controlled to be in the horizontal reference range in the swinging process of the sliding rail mechanism 190, the garbage can 110 is also in the horizontal state, dumping and leakage of garbage cannot occur, and the work efficiency is greatly improved compared with the existing manual judgment and manual adjustment. In addition, in the process of swinging the slide rail mechanism 190, the current magnitude of the third electromagnetic valve 1023, the fourth electromagnetic valve 1024, the fifth electromagnetic valve 1025 and the sixth electromagnetic valve 1026 is simultaneously adjusted according to the detection result of the first tilt angle sensor 112, so that stable, continuous and high-precision adjustment during the composite action of the system can be realized. In addition, the position of the sliding rail mechanism 190 when the holding arm mechanism holds the garbage can 110 is recorded through the second tilt angle sensor 112, and the sliding rail mechanism 190 is controlled to swing back to the position after garbage discharging is completed, so that the garbage can 110 is held from where and put down from where, and fixed-point holding and putting down of the garbage can 110 are realized. The control system of the bucket holding and feeding mechanism has the advantages of being simple to operate and high in automation degree, reduces operation difficulty and complexity, saves time and improves working efficiency.

It will be appreciated that a fourth embodiment of the present invention also provides a garbage truck including the control system of the bucket loading mechanism as described in the third embodiment. Because the garbage truck of this embodiment includes the control system who embraces a bucket feed mechanism in the third embodiment, so the garbage truck of this embodiment only needs the user to send the start-up instruction through the instruction issue device and can automize and carry out rubbish material loading operation to control all the time and embrace arm mechanism and be in horizontal reference within range at the swing in-process of slide rail mechanism, the garbage bin also is in the horizontality along with it, rubbish can not take place to empty the leakage, for current artifical judgement and manual regulation, has promoted work efficiency by a wide margin. And in addition, the current of the third electromagnetic valve, the fourth electromagnetic valve, the fifth electromagnetic valve and the sixth electromagnetic valve is simultaneously adjusted according to the detection result of the first inclination angle sensor in the swinging process of the sliding rail mechanism, so that stable, continuous and high-precision adjustment during the composite action of the system can be realized. In addition, the position of the sliding rail mechanism when the arm holding mechanism holds the garbage can is recorded through the second inclination angle sensor, and the sliding rail mechanism is controlled to swing back to the position after garbage unloading is completed, so that the garbage can is held from where and put down where, and fixed-point holding and putting down of the garbage can are realized. The control system of the bucket holding and feeding mechanism has the advantages of being simple to operate and high in automation degree, reduces operation difficulty and complexity, saves time and improves working efficiency.

As shown in fig. 9, a fifth embodiment of the present invention further provides a method for controlling a bucket holding and feeding mechanism, which preferably uses a system for controlling a bucket holding and feeding mechanism according to the third embodiment, where the method for controlling a bucket holding and feeding mechanism includes the following steps:

step S1: receiving a starting-up instruction;

step S11: and stopping working after detecting that the sliding rail mechanism swings back to the proper position.

It is understood that the above-mentioned specific control process has been described in detail in the third embodiment, and therefore, is not described herein again.

It can also be understood that, as a preferable mode, in the step S3, when the arm-clasping mechanism is controlled to be closed to clasp the trash can, the position of the sliding rail mechanism is recorded, and in the step S9, when it is detected that the sliding rail mechanism swings back to the position when the arm-clasping mechanism clasps the trash can, the arm-clasping mechanism is controlled to release the trash can, so that the trash can be clasped and placed at a fixed point.

According to the control method of the holding barrel feeding mechanism, garbage feeding operation can be automatically carried out only by sending a starting-up instruction by a user, the holding arm mechanism is always controlled to be in the horizontal reference range in the swinging process of the sliding rail mechanism, the garbage can is in the horizontal state, dumping and leakage of garbage are avoided, and the work efficiency is greatly improved compared with the existing manual judgment and manual adjustment. And in addition, the current of the third electromagnetic valve, the fourth electromagnetic valve, the fifth electromagnetic valve and the sixth electromagnetic valve is simultaneously adjusted according to the detection result of the first inclination angle sensor in the swinging process of the sliding rail mechanism, so that stable, continuous and high-precision adjustment during the composite action of the system can be realized. In addition, the position of the sliding rail mechanism when the arm holding mechanism holds the garbage can is recorded through the second inclination angle sensor, and the sliding rail mechanism is controlled to swing back to the position after garbage unloading is completed, so that the garbage can is held from where and put down where, and fixed-point holding and putting down of the garbage can are realized. The control method of the barrel holding feeding mechanism has the advantages of being simple to operate and high in automation degree, reduces operation difficulty and complexity, saves time and improves working efficiency.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A side feeding device, connected to one side of a garbage can (160) on a garbage truck, the side feeding device comprising:

the top cover (170) is used for closing a feed opening formed in the top plate of the garbage can (160), the first end of the top cover (170) is hinged with the top plate of the garbage can (160), and the top cover (170) is connected with a first driving mechanism (180) which is used for driving the top cover (170) to rotate around a hinge point hinged with the top plate of the garbage can (160) so as to open or close the feed opening;

the garbage can with the roller trolley comprises a garbage can body (160), and is characterized by further comprising a sliding rail mechanism (190) hinged to one side of the garbage can body (160) and a second driving mechanism (193) used for driving the sliding rail mechanism (190) to rotate around a hinged point hinged to the garbage can body (160), the sliding rail mechanism (190) is connected with the roller trolley (210) in a sliding mode, the roller trolley (210) is connected with a can holding mechanism, and the can holding mechanism comprises a holding arm mechanism used for holding or putting down the garbage can (110), a fourth driving mechanism used for driving the holding arm mechanism to be opened or folded and a third driving mechanism (220) used for adjusting the holding arm mechanism to enable the holding arm mechanism to keep the holding arm mechanism in a horizontal state;

the roller trolley (210) is further connected with the second end of the top cover (170) to slide to the top end of the sliding rail mechanism (190) in a follow-up manner in the opening process of the top cover (170), so that the garbage can (110) turns over the can to pour the contained garbage into the feed opening downwards, or slide to the bottom end of the sliding rail mechanism (190) in a follow-up manner in the closing process of the top cover (170), so that the garbage can (110) which is fed by the can holding mechanism is unloaded;

embrace bucket mechanism still include with gyro wheel dolly (210) are articulated and be used for propping when embracing the bucket garbage bin (110) outer wall mounting base (10), it embraces arm (30) including setting up on mounting base (10) and with mounting base (10) articulated first armful arm (20) and second respectively, first armful arm (20) and second armful arm (30) set up relatively and link to each other, first armful arm (20) be connected with both ends respectively with first armful arm (20) and mounting base (10) link to each other and have elastic first strip group (40) that compresses tightly, second armful arm (30) be connected with both ends respectively with second armful arm (30) and mounting base (10) link to each other and have elastic second and compress tightly strip group (50), fourth actuating mechanism with first armful arm (20) or second armful arm (30) link to each other in order to order that first armful arm (20) and second armful arm (30) embrace arm (30) and embrace separately and embrace about separately and embrace the hinge point (30) and hold The garbage can (110) is gathered to rotate relatively in the direction, so that the first pressing strip group (40) and the second pressing strip group (50) are correspondingly pulled to press the outer wall of the garbage can (110) relatively to clasp the garbage can (110), or the fourth driving mechanism is used for driving the first clasping arm (20) and the second clasping arm (30) to synchronously rotate relatively in the direction far away from the garbage can (110) around respective hinge points, so that the garbage can (110) is loosened by the first pressing strip group (40) and the second pressing strip group (50);

a first hinge point (80) hinged to the mounting base (10) of the first arm (20) and a second hinge point (90) hinged to the mounting base (10) of the second arm (30) are arranged at intervals, the first hinge point (80) is located on the inner side of the second arm (30) when the garbage can (110) is embraced by the second arm, and the second hinge point (90) is located on the inner side of the first arm (20) when the garbage can (110) is embraced by the first arm, so that overlapped cross arms are formed when the garbage can (110) is embraced by the first arm (20) and the second arm (30);

the barrel holding mechanism further comprises a connecting rod (70), and two ends of the connecting rod (70) are respectively hinged with the first holding arm (20) and the second holding arm (30) so that the first holding arm (20) and the second holding arm (30) can synchronously rotate around respective hinge points under the action of a fourth driving mechanism; the fourth driving mechanism comprises a driving oil cylinder (61) or a driving air cylinder fixedly arranged on the mounting base (10) and a driver connected with the driving oil cylinder (61) or the driving air cylinder, and the driving end of the driving oil cylinder (61) or the driving air cylinder is fixedly connected with the first arm-embracing (20) through a driving shaft;

the point where the driving end of the driving oil cylinder (61) is fixedly connected with the first arm-embracing (20) through the driving shaft is a connecting point (130); a hinge point of the connecting rod (70) hinged with the first arm-embracing (20) is a third hinge point (140), and a hinge point of the connecting rod (70) hinged with the second arm-embracing (30) is a fourth hinge point (150); when the garbage can is embraced, the driver controls the driving oil cylinder (61) to contract, the driving oil cylinder (61) pulls the first embracing arm (20) to rotate anticlockwise around the first hinge point (80), when the first embracing arm (20) rotates anticlockwise around the first hinge point (80), the first embracing arm (20) pulls the second embracing arm (30) through the connecting rod (70) to synchronously rotate clockwise around the second hinge point (90), and the first embracing arm (20) and the second embracing arm (30) are relatively closed to embrace the garbage can (110); when the barrel is unloaded, the driver controls the driving oil cylinder (61) to extend, the driving oil cylinder (61) pulls the first arm (20) to rotate clockwise around the first hinge point (80), when the first arm (20) rotates clockwise around the first hinge point (80), the first arm (20) pulls the second arm (30) to rotate anticlockwise around the second hinge point (90) synchronously through the connecting rod (70), and the first arm (20) and the second arm (30) are relatively far away to release the clamped garbage can (110);

the driving oil cylinder (61) or the driving air cylinder is arranged above the first holding arm (20) and the second holding arm (30) in parallel; when driving cylinder (61) or driving cylinder were laid in parallel in the first arm (20) of embracing and the second and are embraced the top of arm (30), but furthest dwindles and embraces the horizontal space of arm, reduces blanking mouth and discharge opening distance, and the garbage bin is not leaked when overturning when realizing the material loading.

2. A control system of a bucket holding and feeding mechanism for automatically controlling the side feeding device as claimed in claim 1,

the device comprises an instruction issuing device (100), a controller (101), an electromagnetic valve group (102), a first position sensor (111), a first inclination angle sensor (112), a second inclination angle sensor (116), a third position sensor (117) and a fourth position sensor (118), wherein the instruction issuing device (100), the electromagnetic valve group (102), the first position sensor (111), the first inclination angle sensor (112), the second inclination angle sensor (116), the third position sensor (117) and the fourth position sensor (118) are all connected with the controller (101), and the electromagnetic valve group (102) is respectively connected with a first driving mechanism (180), a second driving mechanism (193), a third driving mechanism (220) and a fourth driving mechanism;

the command issuing device (100) is used for issuing a control command, the first position sensor (111) is used for detecting whether the arm-embracing mechanism is opened in place, the first inclination angle sensor (112) is used for detecting the inclination angle of the arm-embracing mechanism, the second inclination angle sensor (116) is used for detecting the inclination angle of the sliding rail mechanism (190), the third position sensor (117) is used for detecting whether the top cover (170) is lifted in place, the fourth position sensor (118) is used for detecting whether the top cover (170) is lowered in place, the controller (101) is used for collecting detection results of the sensors after receiving the control command issued by the command issuing device (100), then controlling the power on or power off of an electromagnetic valve in the electromagnetic valve bank (102) or the current magnitude of the electromagnetic valve according to the detection results of the sensors, and further controlling the first driving mechanism (180), the second driving mechanism (193), The working states of the third driving mechanism (220) and the fourth driving mechanism are adjusted continuously in the swinging process of the sliding rail mechanism (190) so that the arm-embracing mechanism is in a horizontal reference range.

3. A control system for a bucket holding and feeding mechanism as claimed in claim 2,

the electromagnetic valve group (102) comprises a first electromagnetic valve (1021), a second electromagnetic valve (1022), a third electromagnetic valve (1023), a fourth electromagnetic valve (1024), a fifth electromagnetic valve (1025), a sixth electromagnetic valve (1026), a seventh electromagnetic valve (1027) and an eighth electromagnetic valve (1028), the electromagnetic valves are all connected with the controller (101), the first electromagnetic valve (1021) and the second electromagnetic valve (1022) are connected with a fourth driving mechanism, the third electromagnetic valve (1023) and the fourth electromagnetic valve (1024) are connected with a third driving mechanism (220), the fifth electromagnetic valve (1025) and the sixth electromagnetic valve (1026) are connected with a second driving mechanism (193), and the seventh electromagnetic valve (1027) and the eighth electromagnetic valve (1028) are connected with a first driving mechanism (180);

the controller (101) controls the fourth driving mechanism to start an extension action by controlling the first electromagnetic valve (1021) to be electrified so as to drive the arm embracing mechanism to be opened; the controller (101) controls the fourth driving mechanism to start contraction action by controlling the second electromagnetic valve (1022) to be electrified so as to drive the arm embracing mechanism to fold; the controller (101) controls the third driving mechanism (220) to start contraction action by controlling the third electromagnetic valve (1023) to be electrified so as to drive the arm-holding mechanism to rotate upwards; the controller (101) controls the third driving mechanism (220) to start extending action by controlling the fourth electromagnetic valve (1024) to be electrified so as to drive the arm embracing mechanism to rotate downwards; the controller (101) controls the second driving mechanism (193) to start extending action by controlling the fifth electromagnetic valve (1025) to be electrified so as to drive the sliding rail mechanism (190) to swing outwards; the controller (101) controls the sixth electromagnetic valve (1026) to be electrified so as to control the second driving mechanism (193) to start contraction, so as to drive the sliding rail mechanism (190) to swing back inwards; the controller (101) controls the seventh electromagnetic valve (1027) to be electrified so as to control the first driving mechanism (180) to start contraction action, so as to drive the top cover (170) to rotate so as to open the feed opening; the controller (101) controls the first driving mechanism (180) to start extending action by controlling the eighth electromagnetic valve (1028) to be electrified so as to drive the top cover (170) to rotate and close the feed opening.

4. A control system for a bucket holding and feeding mechanism as claimed in claim 3,

the controller (101) controls the current of the third electromagnetic valve (1023) or the fourth electromagnetic valve (1024) based on the detection result of the first tilt angle sensor (112), and further accurately controls the action amplitude of the third driving mechanism (220);

and/or the controller (101) controls the current of the fifth electromagnetic valve (1025) or the sixth electromagnetic valve (1026) based on the detection result of the first inclination angle sensor (112), so as to accurately control the action amplitude of the second driving mechanism (193).

5. A control system for a bucket holding and feeding mechanism as claimed in claim 3,

when the first tilt angle sensor (112) detects that the arm-embracing mechanism deviates from the horizontal reference range, the controller (101) controls the current of the third electromagnetic valve (1023) or the fourth electromagnetic valve (1024) to be larger, and simultaneously controls the current of the fifth electromagnetic valve (1025) or the sixth electromagnetic valve (1026) to be smaller; when the first tilt angle sensor (112) detects that the arm-embracing mechanism deviates from the horizontal reference range, the controller (101) controls the electrified current of the third electromagnetic valve (1023) or the fourth electromagnetic valve (1024) to be smaller, and simultaneously controls the electrified current of the fifth electromagnetic valve (1025) or the sixth electromagnetic valve (1026) to be larger.

6. A control system for a bucket holding and feeding mechanism as claimed in claim 3,

the controller (101) is further used for recording the inclination angle of the sliding rail mechanism (190) detected by the second inclination angle sensor (116) when the arm embracing mechanism embraces the garbage can (110), and controlling the second driving mechanism (193) to stop acting when the second inclination angle sensor (116) detects that the sliding rail mechanism (190) swings back to the inclination angle position again in the swinging process of the sliding rail mechanism (190).

7. A control system for a bucket holding and feeding mechanism as claimed in claim 3,

the control system of the holding barrel feeding mechanism further comprises an ultrasonic sensor (113) which is connected with the controller (101) and used for detecting the distance between the holding arm mechanism and the garbage can (110), and the controller (101) is used for controlling the fifth electromagnetic valve (1025) to lose power when the ultrasonic sensor (113) detects that the distance between the holding arm mechanism and the garbage can (110) is smaller than or equal to a preset value, so that the second driving mechanism (193) is controlled to stop acting.

8. A control system for a bucket holding and feeding mechanism as claimed in claim 3,

the control system of the holding-bucket feeding mechanism further comprises a pressure sensor (114) connected with the controller (101) and used for detecting holding force of the holding-arm mechanism for holding the garbage can (110), and the controller (101) is used for controlling the second electromagnetic valve (1022) to lose power when the pressure sensor (114) detects that the holding force of the holding-arm mechanism for holding the garbage can (110) is larger than or equal to a preset value, so that the fourth driving mechanism is controlled to stop acting.

9. A control method of a bucket holding and feeding mechanism adopts the control system of the bucket holding and feeding mechanism as claimed in any one of claims 2 to 8,

the method comprises the following steps:

step S1: receiving a starting-up instruction;

10. A garbage truck is characterized in that a control system of the bucket holding and feeding mechanism is adopted according to any one of claims 2 to 8.