CN112249563A

CN112249563A - Automatic transfer manipulator for garbage truck of position

Info

Publication number: CN112249563A
Application number: CN202011136887.9A
Authority: CN
Inventors: 张明协
Original assignee: Hangzhou Jinjian Environmental Protection Technology Co ltd
Current assignee: Hangzhou Jinjian Environmental Protection Technology Co ltd
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2021-01-22

Abstract

The invention discloses a manipulator for a garbage truck capable of automatically adjusting positions, which comprises a carriage, wherein a bottom plate is arranged on the left end surface of the lower side of the carriage, the manipulator is arranged on the upper side of the bottom plate, a transmission cavity is arranged in the manipulator, a transmission mechanism is arranged in the transmission cavity, a front clamping cavity is arranged on the front side of the transmission cavity, a clamping mechanism is arranged in the front clamping cavity, a transverse moving mechanism is arranged in the transmission cavity, a mechanical arm is arranged on the right side of the manipulator, a driven cavity is arranged in the mechanical arm, and a dumping mechanism is arranged in the driven cavity. The work content of the staff is reduced, and the staff can work more easily.

Description

Automatic transfer manipulator for garbage truck of position

Technical Field

The invention relates to the field of industrial robots, in particular to a manipulator for a garbage truck, which can automatically adjust the position.

Background

The manipulator is an automatic operation device which can imitate certain motion functions of human arms, uses a fixed program to grab and carry objects or operate tools, is the earliest industrial robot, and can replace heavy labor of people to realize mechanization and automation of production; at the present stage, the manipulator installed on the garbage truck can prevent a driver from going out of the cab to finish the dumping of garbage, but the existing manipulator has higher requirements on the positions of the garbage truck and the garbage can, and the position of the manipulator is required to be aligned to the position of the garbage can, so that the operation difficulty of workers is greatly increased.

Disclosure of Invention

The invention aims to solve the technical problem of providing a mechanical arm for a garbage truck capable of automatically adjusting the position, solving the problems that the requirement of the mechanical arm of the existing garbage truck on the relative position of a garbage can is high, and the like, reducing the requirement of the mechanical arm on the relative position of the garbage truck and the garbage can and reducing the operation difficulty of a driver.

The invention is realized by the following technical scheme.

The invention relates to a manipulator for a garbage truck capable of automatically adjusting position, which comprises a carriage, wherein a bottom plate is arranged on the left end surface of the lower side of the carriage, the manipulator is arranged on the upper side of the bottom plate, a transmission cavity is arranged in the manipulator, a transmission mechanism is arranged in the transmission cavity, a front clamping cavity is arranged on the front side of the transmission cavity, a clamping mechanism is arranged in the front clamping cavity, a transverse moving mechanism is arranged in the transmission cavity, a manipulator is arranged on the right side of the manipulator, a driven cavity is arranged in the manipulator, a dumping mechanism is arranged in the driven cavity, the transmission mechanism comprises a first motor positioned on the lower inner wall of the transmission cavity, a first transmission shaft is rotatably arranged on the first motor, a first push wheel is arranged on the middle side of the first transmission shaft, a first gear positioned on the lower side of the first push wheel is connected with a spline on the first transmission, a pushing rod extending out of the manipulator is arranged in the transmission cavity, a pulley cavity with an upward opening is arranged at the upper end of the pushing rod, a pulley shaft is arranged between the front inner wall and the rear inner wall of the pulley cavity, a pulley in contact with the upper inner wall of the annular chute is arranged on the pulley shaft, a forward limiting rod is arranged in the middle of the pushing rod, a first spring is connected between the lower end face of the first pushing wheel and the upper end face of the first gear, a second transmission shaft is arranged on the rear side of the first transmission shaft, a first belt pulley is arranged at the upper end of the second transmission shaft, a second belt pulley arranged on the lower side of the first belt pulley is arranged at the upper end of the second transmission shaft, a second gear is arranged on the lower side of the second transmission shaft, a third transmission shaft is arranged on the rear side of the second transmission shaft, a first bevel gear is arranged in the middle of the third transmission shaft, a third gear is arranged on the, fourth transmission shaft upper end is equipped with the third belt pulley, the third belt pulley with first belt pulley passes through the belt and rotates the connection, fourth transmission shaft middle part is equipped with the second and pushes away the wheel, fourth transmission shaft middle part splined connection is equipped with and is located the second pushes away the fourth gear of wheel downside, the second push away the lower terminal surface of wheel with be connected with the second spring between the up end of fourth gear, fourth transmission shaft lower extreme is equipped with the electro-magnet, the fourth transmission shaft rear side is equipped with the fifth transmission shaft, fifth transmission shaft upside is equipped with the fourth belt pulley, the fifth transmission shaft downside is equipped with the fifth gear.

Furthermore, the clamping mechanism comprises a front clamping shaft positioned between the upper inner wall and the lower inner wall of the front clamping cavity, a friction block which is in mutual contact with the upper inner wall of the front clamping cavity is arranged at the upper end of the clamping shaft, a fifth belt pulley positioned at the lower end of the friction block is arranged at the upper end of the front clamping shaft in a friction connection manner, the fifth belt pulley is rotatably connected with the second belt pulley through a belt, a front clamping plate is arranged at the lower side of the front clamping shaft, a squeezing cavity is arranged on the left end surface of the front clamping plate, a squeezing plate is arranged in the squeezing cavity, a first power supply block of an external power supply is arranged on the right end surface of the squeezing plate, a limiting rod extending into the limiting cavity is arranged on the right end surface of the squeezing plate, a third spring is connected between the right end surface of the squeezing plate and the right inner wall of the squeezing cavity, and a second power supply block which is connected with the electromagnet, the transmission chamber rear side is equipped with the back and presss from both sides tight chamber, the back presss from both sides tight intracavity and is equipped with back clamp shaft, back clamp shaft upside is equipped with the sixth belt pulley, the sixth belt pulley with the fourth belt pulley passes through belt transmission and connects, back clamp shaft lower extreme is equipped with the back splint, have in the back splint with the same structure of front splint, power pack wherein connects in the second motor, back clamp shaft upper end is equipped with torsion spring.

Furthermore, the dumping mechanism comprises a rotating shaft positioned on the front inner wall and the rear inner wall of the driven cavity, a third push wheel is arranged at the front end of the rotating shaft, a first chain wheel positioned at the rear side of the third push wheel is connected with the front end of the rotating shaft through a spline, an annular cavity with a backward opening is arranged on the rear end face of the first chain wheel, a sliding block is arranged in the annular cavity, one end of a rope is connected onto the rear end face of the sliding block, a second chain wheel is arranged at the front end of the rotating shaft, a carriage cavity with a rightward opening is arranged on the right end face of the mechanical arm, a chain wheel cavity with a backward opening is arranged on the front inner wall of the carriage cavity, a forward tilting shaft is connected between the front inner wall of the chain wheel cavity and the front end face of the carriage, a third chain wheel is arranged at the front end of the forward tilting shaft, the third chain wheel is connected with the second chain wheel through chain transmission, and, the garbage bin is characterized in that a garbage cavity with an upward opening is formed in the upper end face of the carriage, a second motor is arranged on the lower inner wall of the transmission cavity, a sixth transmission shaft is arranged on the second motor in a rotating mode, a second bevel gear is arranged at the upper end of the sixth transmission shaft, a seventh transmission shaft is arranged on the front inner wall of the transmission cavity, a fourth chain wheel is arranged in the middle of the seventh transmission shaft, the fourth chain wheel is in transmission connection with the first chain wheel through a chain, and a third bevel gear meshed with the second bevel gear is arranged at the rear end of the seventh transmission shaft.

Further, the transverse moving mechanism comprises a transverse moving cavity located on the right side of the transmission cavity, a transverse moving shaft extending into the transmission cavity is arranged on the right inner wall of the transverse moving cavity, a fourth bevel gear meshed with the first bevel gear is arranged at the left end of the transverse moving shaft, a transverse moving gear extending out of the mechanical arm is arranged at the right end of the transverse moving shaft, racks meshed with the transverse moving gear are fixedly arranged at the upper end of the mechanical arm, a transverse moving limiting cavity with a left opening is arranged on the left end face of the mechanical arm, a transverse moving limiting block is arranged on the right end face of the mechanical arm, and the other end of a rope is connected to the front end face of the transverse moving limiting block.

The invention has the beneficial effects that: the garbage can placing machine is simple in structure and convenient and fast to operate, in the using process, the machine can stretch out of the mechanical arm to move backwards to find the garbage can, the parking requirement of workers is lowered, after the garbage can is found, the mechanical arm can pour garbage into a garbage truck, then the garbage can is placed down to reset the machine, the garbage truck can be poured into the garbage truck by the workers, the working content of the workers is reduced, and the workers can work more easily.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural view at A-A of an embodiment of the present invention;

FIG. 3 is a schematic structural diagram at B-B of FIG. 2 according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram at C of FIG. 2 according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram at D of fig. 3 according to an embodiment of the present invention.

Detailed Description

The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

With reference to fig. 1-5, the manipulator for a garbage truck capable of automatically adjusting the position includes a carriage 31, a bottom plate 10 is disposed on a left end surface of a lower side of the carriage 31, a manipulator 22 is disposed on an upper side of the bottom plate 10, a transmission chamber 55 is disposed in the manipulator 22, a transmission mechanism 88 is disposed in the transmission chamber 55, a front clamping chamber 50 is disposed on a front side of the transmission chamber 55, a clamping mechanism 89 is disposed in the front clamping chamber 50, a transverse moving mechanism 90 is disposed in the transmission chamber 55, a mechanical arm 16 is disposed on a right side of the manipulator 22, a driven chamber 14 is disposed in the mechanical arm 16, a dumping mechanism 91 is disposed in the driven chamber 14, the transmission mechanism 88 includes a first motor 43 disposed on a lower inner wall of the transmission chamber 55, a first transmission shaft 57 is rotatably disposed on the first motor 43, a first push wheel 56 is disposed on a middle side of the first transmission shaft 57, a first gear 86 disposed on a lower side of the first, an annular sliding groove 85 with a downward opening is formed in the lower end face of the first gear 86, a push rod 81 extending out of the manipulator 22 is arranged in the transmission cavity 55, a pulley cavity 82 with an upward opening is formed in the upper end of the push rod 81, a pulley shaft 84 is arranged between the front inner wall and the rear inner wall of the pulley cavity 82, a pulley 83 contacting with the upper inner wall of the annular sliding groove 85 is arranged on the pulley shaft 84, a forward limiting rod is arranged in the middle of the push rod 81, a first spring 42 is connected between the lower end face of the first push wheel 56 and the upper end face of the first gear 86, a second transmission shaft 68 is arranged on the rear side of the first transmission shaft 57, a first belt pulley 58 is arranged on the upper end of the second transmission shaft 68, a second belt pulley 40 positioned on the first belt pulley 58 is arranged on the upper end of the second transmission shaft 68, a second gear 41 is arranged on the lower side of the second transmission shaft 68, a third transmission shaft 25 is, a first bevel gear 23 is arranged in the middle of the third transmission shaft 25, a third gear 24 is arranged at the lower side of the third transmission shaft 25, a fourth transmission shaft 59 is arranged at the rear side of the third transmission shaft 25, a third belt pulley 60 is arranged at the upper end of the fourth transmission shaft 59, the third belt pulley 60 is rotatably connected with the first belt pulley 58 through a belt, a second push wheel 61 is arranged in the middle of the fourth transmission shaft 59, the middle part of the fourth transmission shaft 59 is splined and provided with a fourth gear 37 positioned at the lower side of the second push wheel 61, a second spring 39 is connected between the lower end surface of the second push wheel 61 and the upper end surface of the fourth gear 37, the lower end of the fourth transmission shaft 59 is provided with an electromagnet 38, the rear side of the fourth transmission shaft 59 is provided with a fifth transmission shaft 62, the upper side of the fifth transmission shaft 62 is provided with a fourth belt pulley 63, and the lower side of the fifth transmission shaft 62 is provided with a fifth gear 36.

Beneficially, the clamping mechanism 89 includes a front clamping shaft 51 located between the upper and lower inner walls of the front clamping cavity 50, a friction block 68 contacting with the upper inner wall of the front clamping cavity 50 is arranged at the upper end of the clamping shaft 51, a fifth belt pulley 52 located at the lower end of the friction block 68 is arranged at the upper end of the front clamping shaft 51 in a friction connection manner, the fifth belt pulley 52 is rotatably connected with the second belt pulley 40 through a belt, a front clamping plate 49 is arranged at the lower side of the front clamping shaft 51, a squeezing cavity 66 is arranged on the left end surface of the front clamping plate 49, a squeezing plate 67 is arranged in the squeezing cavity 66, a first power supply block 70 of an external power supply is arranged on the right end surface of the squeezing plate 67, a limit cavity 74 is arranged on the right inner wall of the squeezing cavity 66, a limit rod 73 extending into the limit cavity 74 is arranged on the right end surface of the squeezing plate 67, a third spring 72 is connected between the right end surface of the, be equipped with on the right inner wall of extrusion chamber 66 with the electro-magnet 38 is to the second power supply block 69 that links, transmission chamber 55 rear side is equipped with back clamp chamber 27, it presss from both sides tight axle 34 to be equipped with 34 back in the back clamp chamber 27, back clamp shaft 34 upside is equipped with sixth belt pulley 65, sixth belt pulley 65 with fourth belt pulley 63 passes through belt transmission and connects, back clamp shaft 34 lower extreme is equipped with back splint 26, have in the back splint 26 with preceding splint 49 looks isostructure, the power supply block wherein is connected in second motor 46, back clamp shaft 34 upper end is equipped with torsion spring 64.

Beneficially, the dumping mechanism 91 includes a rotating shaft 15 located on the front and rear inner walls of the driven cavity 14, the front end of the rotating shaft 15 is provided with a third pushing wheel 76, the front end of the rotating shaft 15 is splined and provided with a first chain wheel 80 located on the rear side of the third pushing wheel 76, the rear end surface of the first chain wheel 80 is provided with an annular cavity 79 with a backward opening, a slider 78 is arranged in the annular cavity 79, the rear end surface of the slider 78 is connected with one end of the rope 12, the front end of the rotating shaft 15 is provided with a second chain wheel 75, the right end surface of the mechanical arm 16 is provided with a carriage cavity 92 with a right opening, the front inner wall of the carriage cavity 92 is provided with a chain wheel cavity 28 with a backward opening, a forward-tilting shaft 30 is connected between the front inner wall of the chain wheel cavity 28 and the front end surface of the carriage 31, the front end of the forward-tilting shaft 30 is provided with a third chain wheel 29, and the third, the utility model discloses a garbage truck, including carriage cavity 92, transmission chamber 55, sixth motor 46, seventh transmission shaft 54, seventh transmission shaft 47 middle part is equipped with fourth sprocket 48, fourth sprocket 48 with be connected through chain drive between first sprocket 80, seventh transmission shaft 47 rear end be equipped with second sprocket 45 intermeshing's third bevel gear 53, be connected with hypsokinesis axle 32 between the rear end face of carriage cavity 92 and the rear end face of carriage 31, be equipped with the ascending rubbish chamber 35 of opening on the carriage 31 up end, be equipped with second motor 46 on the inner wall under the transmission chamber 55, rotate on the second motor 46, sixth transmission shaft 54 upper end is equipped with second bevel gear 45, be equipped with seventh transmission shaft 47 on the inner wall before the transmission chamber 55, seventh transmission shaft 47 middle part is equipped with.

Beneficially, the traverse mechanism 90 includes a traverse chamber 19 located at the right side of the transmission chamber 55, a traverse shaft 20 extending into the transmission chamber 55 is provided on the right inner wall of the traverse chamber 19, a fourth bevel gear 21 engaged with the first bevel gear 23 is provided at the left end of the traverse shaft 20, an 18 traverse gear 18 extending out of the manipulator 22 is provided at the right end of the traverse shaft 20, a rack 17 engaged with the traverse gear 18 is fixedly provided at the upper end of the manipulator 16, a traverse limit chamber 11 with a leftward opening is provided on the left end face of the manipulator 16, a traverse limit block 13 is provided on the right end face of the manipulator 22, and the other end of the rope 12 is connected to the front end face of the traverse limit block 13.

Sequence of mechanical actions of the whole device: 1: the first motor 43 rotates to drive the first transmission shaft 57 to rotate, the first gear 86 to rotate, the second gear 41 to rotate, the second transmission shaft 68 to rotate, the second belt pulley 40 to rotate, the fifth belt pulley 52 to rotate, the front clamping shaft 51 to rotate, the front clamping plate 49 to rotate, the first transmission shaft 68 to rotate, the third belt pulley 60 to rotate, the fourth transmission shaft 59 to rotate, the fourth gear 37 to rotate, the third gear 24 to rotate, the third transmission shaft 25 to rotate, the first bevel gear 23 to rotate, the fourth bevel gear 21 to rotate, the traverse shaft 20 to rotate, the traverse gear 18 to rotate, and the manipulator 22 to move backwards; 2: when the front clamping plate 49 is in contact with the garbage can, the extrusion plate 67 is extruded, the first power supply block 70 is in contact with the second power supply block 69, the electromagnet 38 is energized, the fourth gear 37 moves downwards, the fourth gear 37 is disengaged from the third gear 24, the manipulator 22 stops moving transversely, the fourth gear 37 is engaged with the fifth gear 36, the fourth gear 37 rotates to drive the fifth gear 36 to rotate to drive the fifth transmission shaft 62 to rotate to drive the fourth belt pulley 63 to rotate to drive the sixth belt pulley 65 to rotate to drive the rear clamping shaft 34 to rotate, the rear clamping plate 26 is driven to rotate out to clamp the garbage can, then the power supply blocks in the rear clamping plate are in contact, the second motor 46 is energized, the second motor 46 rotates to drive the sixth transmission shaft 54 to rotate to drive the second bevel gear 45 to rotate to drive the third bevel gear 53 to drive the seventh transmission shaft 47 to rotate, the fourth chain wheel 48 is driven to rotate, and the first chain wheel 80 is driven to rotate, the rotating shaft 15 is driven to rotate, the second chain wheel 75 is driven to rotate, the third chain wheel 29 is driven to rotate, the dumping shaft 30 is driven to rotate, the mechanical arm 16 and the mechanical hand 22 are lifted, garbage in the garbage bin is dumped into the garbage cavity 35, after the mechanical hand 22 is lifted, the mechanical hand 22 is separated from the bottom plate 10, the push rod 81 moves downwards, and the first gear 86 moves downwards to be separated from the engagement with the second gear 41 under the action of the first spring 42; 3: after the garbage is dumped, the second motor 46 rotates reversely to drive the sixth transmission shaft 54 to rotate reversely to drive the second bevel gear 45 to rotate reversely to drive the third bevel gear 53 to rotate reversely to drive the seventh transmission shaft 47 to rotate reversely to drive the fourth chain wheel 48, the first chain wheel 80, the rotating shaft 15, the second chain wheel 75, the third chain wheel 29 and the dumping shaft 30 to rotate reversely, the mechanical arm 16 and the mechanical arm 22 are lowered and reset, the push rod 81 is pushed to the bottom plate 10 to move upwards after being lowered to drive the first gear 86 to move upwards to be meshed with the second gear 41, the first motor 43 rotates reversely to drive the first transmission shaft 57 to rotate reversely to drive the first gear 86, the second gear 41, the second transmission shaft 68, the second belt pulley 40, the fifth belt pulley 52 and the front clamping shaft 51 to rotate reversely, the front clamping plate 49 is rotated and reset, the garbage can is released, the second motor 46 and the electromagnet 38 stop electrifying, the fourth gear 37 moves upwards to be meshed with the fifth gear 36 under the action of the second spring 39, the fourth gear 37 and the fifth gear 36 are disengaged and then the rear clamping plate 26 is reset under the action of the torsion spring 64, the fourth gear 37 is engaged with the third gear 24, the second transmission shaft 68 rotates reversely to drive the first belt pulley 58, the third belt pulley 60, the fourth transmission shaft 59, the fourth gear 37, the third gear 24, the third transmission shaft 25 and the first bevel gear 23 to rotate reversely to drive the fourth bevel gear 21, the traverse shaft 20 and the traverse gear 18 to rotate reversely, so that the manipulator 22 moves forwards and resets.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. The utility model provides an automatic transfer manipulator for garbage truck of position, includes the carriage, its characterized in that: a bottom plate is arranged on the left end face of the lower side of the carriage, a mechanical arm is arranged on the upper side of the bottom plate, a transmission cavity is arranged in the mechanical arm, a transmission mechanism is arranged in the transmission cavity, a front clamping cavity is arranged on the front side of the transmission cavity, a clamping mechanism is arranged in the front clamping cavity, a transverse moving mechanism is arranged in the transmission cavity, a mechanical arm is arranged on the right side of the mechanical arm, a driven cavity is arranged in the mechanical arm, a dumping mechanism is arranged in the driven cavity, the transmission mechanism comprises a first motor positioned on the lower inner wall of the transmission cavity, a first transmission shaft is rotatably arranged on the first motor, a first push wheel is arranged on the middle side of the first transmission shaft, a first gear positioned on the lower side of the first push wheel is connected through a spline on the first transmission shaft, an annular chute with a downward opening is arranged on the, a pulley cavity with an upward opening is arranged at the upper end of the push rod, a pulley shaft is arranged between the front inner wall and the rear inner wall of the pulley cavity, a pulley in contact with the upper inner wall of the annular chute is arranged on the pulley shaft, a forward limiting rod is arranged in the middle of the push rod, a first spring is connected between the lower end face of the first push wheel and the upper end face of the first gear, a second transmission shaft is arranged on the rear side of the first transmission shaft, a first belt pulley is arranged at the upper end of the second transmission shaft, a second belt pulley arranged on the lower side of the first belt pulley is arranged at the upper end of the second transmission shaft, a second gear is arranged on the lower side of the second transmission shaft, a third transmission shaft is arranged on the rear side of the second transmission shaft, a first bevel gear is arranged in the middle of the third transmission shaft, a third gear is arranged on the lower side of the third transmission shaft, a fourth transmission shaft is, the third belt pulley with first belt pulley passes through the belt and rotates the connection, fourth transmission shaft middle part is equipped with the second and pushes away the wheel, fourth transmission shaft middle part splined connection is equipped with and is located the second pushes away the fourth gear of wheel downside, the second push away the lower terminal surface of wheel with be connected with the second spring between the up end of fourth gear, fourth transmission shaft lower extreme is equipped with the electro-magnet, fourth transmission shaft rear side is equipped with the fifth transmission shaft, the fifth transmission shaft upside is equipped with the fourth belt pulley, fifth transmission shaft downside is equipped with the fifth gear.

2. The manipulator for the garbage truck capable of automatically adjusting the position according to claim 1, wherein: the clamping mechanism comprises a front clamping shaft positioned between the upper inner wall and the lower inner wall of the front clamping cavity, the upper end of the clamping shaft is provided with a friction block which is in mutual contact with the upper inner wall of the front clamping cavity, the upper end of the front clamping shaft is provided with a fifth belt pulley positioned at the lower end of the friction block in a friction connection manner, the fifth belt pulley is rotatably connected with the second belt pulley through a belt, the lower side of the front clamping shaft is provided with a front splint, the left end surface of the front splint is provided with a squeezing cavity, a squeezing plate is arranged in the squeezing cavity, the right end surface of the squeezing plate is provided with a first power supply block of an external power supply, the right inner wall of the squeezing cavity is provided with a limiting cavity, the right end surface of the squeezing plate is provided with a limiting rod which extends into the limiting cavity, a third spring is connected between the right end surface of the squeezing plate and the right inner wall of, the transmission chamber rear side is equipped with the back and presss from both sides tight chamber, the back presss from both sides tight intracavity and is equipped with back clamp shaft, back clamp shaft upside is equipped with the sixth belt pulley, the sixth belt pulley with the fourth belt pulley passes through belt transmission and connects, back clamp shaft lower extreme is equipped with the back splint, have in the back splint with the same structure of front splint, power pack wherein connects in the second motor, back clamp shaft upper end is equipped with torsion spring.

3. The manipulator for the garbage truck capable of automatically adjusting the position according to claim 1, wherein: the dumping mechanism comprises a rotating shaft positioned on the front inner wall and the rear inner wall of the driven cavity, a third push wheel is arranged at the front end of the rotating shaft, a first chain wheel positioned at the rear side of the third push wheel is arranged at the front end of the rotating shaft in a spline connection mode, an annular cavity with a backward opening is arranged on the rear end face of the first chain wheel, a sliding block is arranged in the annular cavity, one end of a rope is connected onto the rear end face of the sliding block, a second chain wheel is arranged at the front end of the rotating shaft, a carriage cavity with a rightward opening is arranged on the right end face of the mechanical arm, a chain wheel cavity with a backward opening is arranged on the front inner wall of the carriage cavity, a forward tilting shaft is connected between the front inner wall of the chain wheel cavity and the front end face of the carriage, a third chain wheel is arranged at the front end of the forward tilting shaft, the third chain wheel is connected with the second chain wheel in, the garbage bin is characterized in that a garbage cavity with an upward opening is formed in the upper end face of the carriage, a second motor is arranged on the lower inner wall of the transmission cavity, a sixth transmission shaft is arranged on the second motor in a rotating mode, a second bevel gear is arranged at the upper end of the sixth transmission shaft, a seventh transmission shaft is arranged on the front inner wall of the transmission cavity, a fourth chain wheel is arranged in the middle of the seventh transmission shaft, the fourth chain wheel is in transmission connection with the first chain wheel through a chain, and a third bevel gear meshed with the second bevel gear is arranged at the rear end of the seventh transmission shaft.

4. The manipulator for the garbage truck capable of automatically adjusting the position according to claim 3, wherein: the transverse moving mechanism comprises a transverse moving cavity located on the right side of the transmission cavity, a transverse moving shaft extending into the transmission cavity is arranged on the right inner wall of the transverse moving cavity, a fourth bevel gear meshed with the first bevel gear is arranged at the left end of the transverse moving shaft, a transverse moving gear extending out of the mechanical arm is arranged at the right end of the transverse moving shaft, racks meshed with the transverse moving gear are fixedly arranged at the upper end of the mechanical arm, a transverse moving limiting cavity with an opening facing left is arranged on the left end face of the mechanical arm, a transverse moving limiting block is arranged on the right end face of the mechanical arm, and the other end of a rope is connected to the front end face of the transverse.