Garbage bin transporting method using a garbage bin transporting device

Abstract

The present invention provides a method for transporting a waste bin using a waste bin transporting device. The waste bin transporting device transports waste bins, comprising the following steps: a garbage truck moves to a work area, a waste bin transporting robot moves from the garbage truck into the work area; the waste bin transporting robot removes an empty waste bin from a bin collection area and approaches a waste storage area; the waste bin transporting robot removes a fully loaded waste bin from the waste storage area; the waste bin transporting robot deposits an empty waste bin into the waste storage area; the waste bin transporting robot moves a fully loaded waste bin into the bin collection area; the above steps are repeated until the waste bin transporting robot replaces all fully loaded waste bins in the waste storage area with empty waste bins; and the waste bin transporting robot moves from the work area back to the garbage truck. Compared to the prior art, the waste bin transporting method for a waste bin transporting device according to the present invention can efficiently and intelligently transport waste bins.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transport devices, and in particular to a method for transporting a waste bin using a waste bin transport device. Background Art

[0002] The traditional method of cleaning a garbage bin is that after the bin is full, the cleaning staff moves the bin to the side of the garbage truck. The garbage truck uses a grabbing device to turn the bin over and pour the garbage in the bin into the garbage collection box of the garbage truck. Then the grabbing device puts the bin back in place. This type of garbage bin cleaning will expose the garbage to the air for a short time, causing the spread of germs outward, and there may be garbage spillage and sewage seepage. To solve the above problems, a cleaning method is now adopted in which the full garbage bins are collected into the placement box of the garbage truck and the empty garbage bins are placed at the same time. The garbage truck collects the full garbage bins to the garbage treatment plant, where the garbage is treated in a confined space and the garbage bins are disinfected, thereby effectively reducing the spread of germs into the living environment. In this cleaning method, the full garbage bins need to be manually pushed into the placement box of the garbage truck and the empty garbage bins in the placement box are pulled out of the garbage truck. This manual method of transporting garbage bins is time-consuming and labor-intensive, and the cleaning staff are in close contact with the garbage, which may expose them to germs and affect their health. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a method for transporting a garbage bin using a garbage bin transporting device, which can efficiently and intelligently transport the garbage bin.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A method for transporting a waste bin using a waste bin transporting device, wherein a waste bin is transported by a waste bin transporting robot, the waste bin transporting robot comprising a frame, a lifting device, and a gripping device, wherein the frame is provided with a transporting area, the lifting device is arranged in the transporting area so as to be movable forward and backward, and the lifting device is used to lift the gripping device so that the gripping device can grip the waste bin;

[0006] The garbage bin transporting method comprises the following steps:

[0007] (a1) The waste container handling robot moves to the working area;

[0008] (a2) The garbage bin transport robot moves an empty garbage bin from the bin collection area and moves it closer to the garbage placement area;

[0009] (a3) The trash bin handling robot removes the full trash bin from the trash placement area;

[0010] (a4) The garbage bin transporting robot places an empty garbage bin in the garbage storage area;

[0011] (a5) The garbage bin handling robot moves a fully loaded garbage bin into the bin collection area;

[0012] (a6) Repeat steps (a2) to (a5) until the trash bin transporting robot replaces all full trash bins in the trash placement area with empty trash bins.

[0013] Compared with the prior art, the garbage bin handling method of the garbage bin handling device of the present invention utilizes garbage trucks to store and transport garbage bins, and utilizes garbage bin handling robots to replace fully loaded garbage bins with empty garbage bins, thereby realizing intelligent transportation of garbage bins and thus realizing unmanned transfer of garbage. The equipment used has the advantages of low cost, simple operation, small space occupation, good protection of garbage bins, and few restrictions on operating objects and operating scenes. In addition, the garbage bin handling method of the garbage bin handling device of the present invention has strong flexibility, fast operating speed, large handling capacity, and strong reliability, and is convenient for large-scale promotion and use.

[0014] Preferably, step (a2) comprises the following steps:

[0015] (a2.1) The trash bin handling robot moves to the storage cavity of the bin collection area and is located around the empty trash bin;

[0016] (a2.2) The lifting device operates to connect the grabbing device to the upper outer edge of the empty trash can;

[0017] (a2.3) The garbage bin handling robot approaches the side of the garbage placement area;

[0018] (a2.4) The lifting device operates to release the gripping device from the empty trash bin, and the empty trash bin is placed at its current location.

[0019] The above-mentioned transporting method ensures that the garbage bin transporting robot maintains a certain distance from the empty garbage bin before transporting the empty garbage bin, avoiding the garbage bin transporting robot being too close to the empty garbage bin, causing the garbage bin transporting robot to scratch the empty garbage bin and affect the transport of the empty garbage bin.

[0020] Preferably, step (a3) ​​comprises the following steps:

[0021] (a3.1) The garbage bin handling robot approaches the side of a fully loaded garbage bin located in the garbage storage area;

[0022] (a3.2) The lifting device operates to connect the grabbing device with the upper outer edge of the full trash can;

[0023] (a3.3) The trash bin handling robot moves to the side of the trash placement area opposite to the empty trash bin;

[0024] (a3.4) The lifting device operates, releasing the gripping device from the fully loaded trash bin, and the fully loaded trash bin is placed in its current position.

[0025] The above-mentioned transporting method places the empty garbage bins and the fully loaded garbage bins on opposite sides of the garbage placement area, thereby leaving enough space between the garbage placement area, the empty garbage bins and the fully loaded garbage bins for the garbage bin transporting robot to perform transporting operations, thereby preventing the empty garbage bins and the fully loaded garbage bins from being hit by the garbage bin transporting robot, so that the garbage bin transporting robot can smoothly replace the fully loaded garbage bin with an empty garbage bin.

[0026] Preferably, step (a4) comprises the following steps:

[0027] (a4.1) The trash bin handling robot approaches an empty trash bin;

[0028] (a4.2) The lifting device operates to connect the grabbing device with the upper outer edge of the empty trash can;

[0029] (a4.3) The garbage bin transport robot moves to the garbage placement area;

[0030] (a4.4) The lifting device operates to release the gripping device from the empty trash bin, and the empty trash bin is placed at its current location;

[0031] (a4.5) The garbage bin transporting robot exits the garbage placement area.

[0032] Preferably, step (a5) comprises the following steps:

[0033] (a5.1) The trash bin handling robot approaches a fully loaded trash bin;

[0034] (a5.2) The lifting device operates to connect the grabbing device with the upper outer edge of the full trash can;

[0035] (a5.3) The garbage bin handling robot moves to the bin collection area;

[0036] (a5.6) The lifting device operates to place the fully loaded trash bin into the empty storage cavity in the bin collection area.

[0037] The present invention also provides another method for transporting a waste bin using a waste bin transporting device, wherein a waste bin is transported by a waste bin transporting robot, the waste bin transporting robot comprising a frame, a lifting device, and a gripping device, wherein the frame is provided with a transporting area, the lifting device is arranged in the transporting area so as to be movable forward and backward, and the lifting device is used to lift the gripping device so that the gripping device can grip the waste bin;

[0038] The garbage bin transporting method comprises the following steps:

[0039] (b1) The garbage bin handling robot moves to the working area;

[0040] (b2) The garbage bin transport robot moves an empty garbage bin from the bin collection area and moves it closer to the garbage placement area;

[0041] (b3) The waste bin handling robot removes the full waste bin from the waste placement area;

[0042] (b4) The garbage bin transporting robot places an empty garbage bin in the garbage storage area;

[0043] (b5) The trash bin handling robot moves the fully loaded trash bin into the empty cavity of the bin collection area;

[0044] (b6) repeating steps (b2) to (b5) until at most one empty trash bin is stored in one of the storage cavities in the bin collection area or all full trash bins in the trash placement area are replaced with empty trash bins. If all full trash bins in the trash placement area have been replaced with empty trash bins, the trash bin handling robot moves from the working area back to the garbage truck, otherwise proceeding to step (b7);

[0045] (b7) The trash bin transport robot moves an empty trash bin out of the storage cavity in the bin collection area and moves it closer to the trash placement area;

[0046] (b8) The trash bin handling robot removes the full trash bin from the trash placement area;

[0047] (b9) The garbage bin transporting robot places an empty garbage bin in the garbage storage area;

[0048] (b10) The garbage bin transporting robot moves a full garbage bin into an empty storage cavity in the bin collection area or into a storage cavity that stores at least one full garbage bin but is not full;

[0049] (b11) Repeat steps (b7) to (b10) until the trash bin transporting robot replaces all full trash bins in the trash placement area with empty trash bins.

[0050] Compared with the prior art, the garbage bin handling method of the garbage bin handling device of the present invention utilizes an empty cavity as a buffer space for the garbage bin handling robot to first store some of the garbage bins in the empty cavity when multiple garbage bins are stored in a single storage cavity, thereby taking out the garbage bins located deep in the storage cavity, thereby increasing the speed at which the garbage bin handling robot handles the garbage bins.

[0051] Preferably, steps (b2) and (b7) comprise the following steps:

[0052] (c1) The waste bin handling robot moves to the storage cavity of the bin collection area and is located around the empty waste bin;

[0053] (c2) the lifting device moves forward into the storage cavity and approaches the side of the empty trash bin;

[0054] (c3) the lifting device lifts the grabbing device so that the grabbing device moves from the lower portion of the empty trash bin to the upper portion of the empty trash bin and connects with the outer edge of the upper end of the empty trash bin;

[0055] (c4) The lifting device is reset backwards so that the empty trash container is located within the handling area;

[0056] (c5) The garbage bin transporting robot is close to the side of the garbage placement area;

[0057] (c6) The lifting device moves forward;

[0058] (c7) the lifting device descends, the gripping device is disconnected from the empty trash bin, and the empty trash bin is placed at the current location;

[0059] (c8) Reset the grabbing device and lifting device.

[0060] In the above-mentioned transporting method, after the grabbing device grabs the empty trash can, it moves backward so that the empty trash can is located in the transporting area. On the one hand, the overall structure of the trash can transporting robot is used to protect the empty trash can, preventing the empty trash can from being hit by external objects and overturning. On the other hand, the overall center of gravity of the empty trash can and the trash can transporting robot can be shifted to the middle of the transporting area, thereby improving the stability of the trash can transporting robot during movement.

[0061] Preferably, steps (b3) and (b8) comprise the following steps:

[0062] (d1) The waste container transport robot approaches the side of a fully loaded waste container located in the waste placement area;

[0063] (d2) The lifting device moves forward close to the side of the full trash container;

[0064] (d3) the lifting device lifts the grabbing device so that the grabbing device moves from the lower part of the full trash bin to the upper part of the full trash bin and connects with the outer edge of the upper end of the full trash bin;

[0065] (d4) The lifting device is reset backward so that the fully loaded trash container is located within the handling area.

[0066] (d5) The trash bin transport robot moves to the side of the trash placement area opposite to the empty trash bin;

[0067] (d6) The lifting device moves forward;

[0068] (d7) The lifting device descends, the gripping device is disconnected from the full trash bin, and the full trash bin is placed at the current location;

[0069] (d8) Reset the grabbing device and lifting device.

[0070] In the above-mentioned transporting method, after the gripping device grips the fully loaded trash can, it moves backward so that the fully loaded trash can is located in the transporting area. On the one hand, the overall structure of the trash can transporting robot is used to protect the fully loaded trash can, preventing the fully loaded trash can from being hit by foreign objects and overturning. On the other hand, the overall center of gravity of both the fully loaded trash can and the trash can transporting robot can be shifted toward the middle of the transporting area, thereby improving the stability of the trash can transporting robot during movement. In addition, in the above-mentioned transporting method, the gripping device and the lifting device are reset after completing the transporting task. On the one hand, the center of gravity of the trash can transporting robot can be shifted toward the middle of the transporting area, thereby improving the stability of the trash can transporting robot during movement, thereby increasing the moving speed. On the other hand, the overall structure of the trash can transporting robot can be used to protect the gripping device and the lifting device, thereby preventing the gripping device and the lifting device from colliding with foreign objects.

[0071] Preferably, steps (b4) and (b9) comprise the following steps:

[0072] (e1) The trash bin handling robot approaches an empty trash bin;

[0073] (e2) The lifting device moves forward close to the side of the empty trash container;

[0074] (e3) the lifting device lifts the grabbing device so that the grabbing device moves from the lower portion of the empty trash bin to the upper portion of the empty trash bin and connects with the outer edge of the upper end of the empty trash bin;

[0075] (e4) The lifting device is reset backward so that the empty trash container is located in the handling area.

[0076] (e5) The garbage bin transporting robot moves to the garbage placement area;

[0077] (e6) The lifting device moves forward;

[0078] (e7) The lifting device descends, the gripping device is disconnected from the empty trash bin, and the empty trash bin is placed at the current location;

[0079] (e8) Resetting the grabbing and lifting devices

[0080] (e9) The garbage bin transporting robot exits the garbage placement area.

[0081] Preferably, step (b5) comprises the following steps:

[0082] (b5.1) The trash bin handling robot approaches a fully loaded trash bin;

[0083] (b5.2) The lifting device operates to connect the grabbing device with the upper outer edge of the full trash can;

[0084] (b5.3) The garbage bin handling robot moves to the bin collection area;

[0085] (b5.4) The lifting device operates to place the fully loaded trash bin into the empty cavity in the collection area of ​​the bin. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 is a schematic diagram of a first angle of the present invention;

[0087] Figure 2 is a schematic diagram of a second angle of the present invention;

[0088] Figure 3 is a schematic diagram of a third angle of the present invention;

[0089] Figure 4 is a cross-sectional view of the present invention;

[0090] Figure 5 is a perspective view of the present invention from a first angle;

[0091] Figure 6 is a perspective view of the present invention from a second angle;

[0092] Figure 7 is a perspective view of the present invention when grabbing a trash can;

[0093] Figure 8 is a front view of the gripping device;

[0094] Figure 9 is a cross-sectional view of the gripping device;

[0095] Figure 10 is a perspective view of a grabbing device grabbing a trash bin;

[0096] Figure 11 is a schematic diagram of embodiment 2;

[0097] Figure 12 is a front view of the gripping device;

[0098] Figure 13 is a cross-sectional view of the gripping device;

[0099] Figure 14 is a perspective view of a grabbing device grabbing a trash bin;

[0100] Figure 15 This is a schematic diagram of the robot after the lifting mechanism is improved based on Example 1;

[0101] Figure 16 It is a cross-sectional view of the lifting mechanism;

[0102] Figure 17 is a schematic diagram of the lifting mechanism;

[0103] Figure 18 This is a schematic diagram from a first angle of the robot after the lifting mechanism is improved based on Example 2;

[0104] Figure 19 This is a second angle schematic diagram of the robot after the lifting mechanism is improved based on Example 2;

[0105] Figure 20 It is a cutaway view of a garbage truck;

[0106] Figure 21 is a cross-sectional view of the first carriage;

[0107] Figure 22 is a cross-sectional view of an improved solution for the first carriage;

[0108] Figure 23 is a schematic diagram of the robot taking out an empty trash bin from the storage cavity;

[0109] Figure 24 It is a schematic diagram of the robot placing a full trash bin into an empty cavity;

[0110] Figure 25 is a flow chart of embodiment 5;

[0111] Figure 26 is a flow chart of embodiment 6;

[0112] Figure 27 This is the first state diagram of the robot transferring the trash can to the trash placement area;

[0113] Figure 28 This is the second state diagram of the robot transferring the trash can to the trash placement area;

[0114] Figure 29 This is the third state diagram of the robot transferring the trash can to the trash placement area;

[0115] Figure 30 This is the fourth state diagram of the robot transferring the trash can to the trash placement area;

[0116] Figure 31 This is the fifth state diagram of the robot transferring the trash can to the trash placement area;

[0117] Figure 32 This is the sixth state diagram of the robot transferring the trash can to the trash placement area;

[0118] Figure 33 This is the seventh state diagram of the robot transferring the trash can to the garbage placement area.

[0119] Description of labels:

[0120] 1. Trash bin handling robot, 10. Frame, 11. Main body, 12. Crossbeam, 13. Fixed plate, 14. Hood, 15. Support foot, 16. Slide rail, 17. Handling area, 18. Drive unit, 181. Drive wheel, 182. Fixed wheel, 183. Universal wheel, 19. Power supply module, 2. Sliding member, 21. Roller, 22. Sliding drive unit, 3. Lifting device, 31. Sliding block, 311. Front plate, 312. Side plate, 313. Second pulley, 32. Hoist unit, 321. First pulley, 322. Traction member, 33. First telescopic member, 4. Door frame, 40. Guide rail, 41. First door Frame, 42 second door frame, 43 connecting part, 44 vertical plate, 5 second pushing mechanism, 51 second telescopic part, 52 front slide rail, 53 rear slide rail, 54 scissor-type connecting rod, 6 grabbing device, 61 connecting plate, 62 insert block, 63 mounting plate, 64 connecting rod, 65 anti-slip unit, 7 tractor, 71 first carriage, 72 box collection area, 73 first opening and closing door, 74 partition, 75 storage cavity, 76 empty cavity, 8 second carriage, 81 robot placement area, 82 second opening and closing door, 9 garbage placement area, 91 empty garbage bin, 92 fully loaded garbage bin. DETAILED DESCRIPTION

[0121] The following describes the embodiments of the present invention with reference to the accompanying drawings:

[0122] Example 1

[0123] See also Figures 1 to 7 A garbage bin handling robot 1 of this embodiment includes a frame 10, a lifting device 3 and a gripping device 6. The lifting device 3 is arranged on the frame 10 so as to be movable forward and backward. The gripping device 6 is arranged on the frame 10 through the lifting device 3. The lifting device 3 is used to lift the gripping device 6, and the gripping device 6 is used to be selectively fixedly connected to the outside of the garbage bin.

[0124] See also Figures 1 to 7 The frame 10 includes a seat body, and a driving mechanism, a power supply module 19 and a control mechanism (not shown in the figure) arranged on the seat body. The seat body includes a main body 11, and support feet 15 extending forward on the left and right sides of the main body 11. A carrying area 17 is formed between the two support feet 15. The power supply module 19 is used to supply power to the lifting device 3, the driving mechanism and the control mechanism. The driving mechanism is used to drive the seat body to move, and the control mechanism is used to control the operation of the driving mechanism.

[0125] The handling robot of the present invention has a frame 10 in a "U" shape. The reasonable structural layout makes the whole device small in volume. When the garbage bin handling robot 1 is in the standby state, the frames 10 of multiple garbage bin handling robots 1 can be placed in a staggered manner to reduce the occupancy of storage space by multiple garbage bin handling robots 1. In addition, the setting of the frame 10 makes the center of gravity of the garbage bin handling robot 1 more stable, thereby improving the stability during movement and handling of the handled object, increasing the bearing capacity, and enhancing the handling ability of the garbage bin handling robot 1.

[0126] See Figures 1 to 7 , specifically, the driving mechanism includes a driving device 18, driving wheels 181 and driven wheels. The driven wheels include two directional wheels 182 and one universal wheel 183. The two directional wheels 182 are arranged on the support feet 15, and the universal wheel 183 and the driving wheels 181 are respectively arranged on the left and right sides of the main body 11. The driving device 18 is used to drive the driving wheels 181 to move.

[0127] See Figures 1 to 7 , the main body 11 includes a cross beam 12 and a fixing plate 13. The fixing plate 13 is arranged above the cross beam 12 for installing the driving device 18. The universal wheel 183 and the driving wheels 181 are arranged below the fixing plate 13. Two support feet 15 are respectively arranged on the left and right sides of the cross beam 12; with the above setting method of the main body 11, the center of gravity of the frame 10 can be offset to the side of the driving wheels 181 (the rear of the frame 10), so as to avoid the center of gravity of the garbage bin handling robot 1 shifting too far forward to the front of the frame 10 and affecting the normal movement of the garbage bin handling robot 1 when the garbage bin handling robot 1 is handling the garbage bin.

[0128] Specifically, the power supply module 19 and the control mechanism are arranged above the connection position of the cross beam 12 and the two support feet 15. This setting method can make the layout of components more compact, thereby reducing the space occupied by the garbage bin handling robot 1 and facilitating the transportation of the garbage bin handling robot 1.

[0129] See Figures 1 to 7 , specifically, a machine cover 14 is provided on the main body 11, and the driving device 18, the power supply module 19 and the control mechanism are arranged in the machine cover 14, so as to play an insulating role and prevent the driving device 18, the power supply module 19 and the control mechanism from adhering to pollutants in the external environment.

[0130] See Figures 1 to 7The lifting device 3 is arranged on the frame 10 so as to be movable forward and backward through a first pushing mechanism. The first pushing mechanism includes a sliding member 2 and a sliding driving device 22, as well as a slide rail 16 arranged on the inner side of each supporting foot 15 along the length direction of the supporting foot 15. The two sides of the sliding member 2 are respectively slidably connected to the two slide rails 16. The sliding driving device 22 is used to drive the sliding member 2 to move forward and backward along the extension direction of the slide rail 16.

[0131] By providing a first pushing mechanism, the lifting device 3 can move forward and backward relative to the frame 10, which facilitates the grabbing device 6 to grab the trash can. In addition, when transporting the trash can, the lifting device 3 moves forward from the middle of the transport area 17 (close to the main body 11) to the end of the transport area 17 (supporting feet 15) close to the trash can. After grabbing the trash can, it moves backward from the end of the transport area 17 to the middle of the transport area 17, and moves the trash can into the transport area 17, so that the overall center of gravity of the trash can and the trash box transporting robot 1 is located in the middle of the transport area 17, thereby improving the stability of the present invention when transporting the trash can.

[0132] Specifically, the sliding member 2 is slidably connected to the slide rail 16 via rollers 21 provided at the front and rear sides.

[0133] See also Figures 1 to 7 The lifting device 3 includes a lifting mechanism and a slider 31. The grabbing device 6 is arranged on the front end surface of the slider 31 and can move forward and backward. The lifting mechanism can drive the slider 31 to move up and down.

[0134] The lifting device 3 adopts the above-mentioned setting method, and uses the lifting mechanism to lift the slider 31, thereby changing the height of the grasping device 6 set on the slider 31 relative to the horizontal plane, so that the grasping device 6 always remains parallel to the horizontal plane, preventing the trash can from tilting to the left or right and falling.

[0135] See also Figures 1 to 7 The lifting mechanism includes a hoist device 32, a first pulley 321 and a traction member 322. The hoist device 32 is fixedly connected to the sliding member 2. The first pulley 321 is arranged above the slider 31 and is fixed relative to the hoist device 32. One end of the traction member 322 is connected to the hoist device 32, and the other end of the traction member 322 is passed through the first pulley 321 and connected to the slider 31.

[0136] The above-mentioned arrangement of the lifting mechanism has a small number of parts, high transmission efficiency, stability and reliability, and a fast response speed, thereby effectively improving the efficiency of transporting the garbage can of the present invention.

[0137] Specifically, the traction member 322 is a lifting belt.

[0138] See also Figures 1 to 7 The sliding member 2 is provided with a vertical guiding mechanism, and the vertical guiding mechanism includes a door frame 4. The door frame 4 is located outside the lifting mechanism. The two sides of the door frame 4 are provided with guide rails 40 formed by inward depressions. The two sides of the slider 31 are slidably connected to the guide rails 40 through the second pulley 313.

[0139] By setting up a vertical guide mechanism, it is ensured that the slider 31 moves up and down stably along the guide direction of the guide rail 40, thereby improving the stability of the garbage bin handling robot 1 when lifting or lowering the object to be handled in situ. In addition, after the grasping device 6 grasps the object to be handled, the slider 31 tilts forward, and the vertical guide mechanism can limit the slider 31 and provide support force to prevent the slider 31 from shifting and being damaged, thereby ensuring the ability of the garbage bin handling robot 1 to handle garbage bins.

[0140] Specifically, the hoist device 32 is arranged on the door frame 4, and the first pulley 321 is arranged at the upper end of the door frame 4.

[0141] See also Figures 1 to 7 Specifically, the door frame 4 includes a first door frame 41 and a second door frame 42, and the first door frame 41 and the second door frame 42 are correspondingly arranged on the left and right sides of the sliding member 2; a connecting member 43 is provided between the first door frame 41 and the second door frame 42, and the two ends of the connecting member 43 are respectively connected to the upper ends of the first door frame 41 and the second door frame 42; the door frame 4 has a simple structure and is easy to assemble and produce.

[0142] See also Figures 1 to 7 Specifically, the slider 31 includes a front plate 311 and two side plates 312. The two side plates 312 are relatively arranged on both sides of the front plate 311 and are located in the guide rail 40. The second pulley 313 is arranged on the side plate 312. A single side plate 312 is provided with two second pulleys 313 arranged up and down. The rear side of the front plate 311 is connected to the inner side of the side plate 312 through a fixed beam. The slider 31 adopts the above-mentioned setting method to prevent the slider 31 from falling off the door frame 4, thereby improving the connection strength between the slider 31 and the door frame 4.

[0143] See also Figures 8 to 10 The grabbing device 6 is arranged on the slider 31 through a second pushing mechanism 5. The second pushing mechanism 5 includes a second telescopic member 51. The second telescopic member 51 is arranged on the slider 31. The grabbing device 6 is arranged on the telescopic end of the second telescopic member 51.

[0144] By providing a second pushing mechanism 5, the grabbing device 6 can move forward and backward relative to the lifting device 3, making it easier to grab trash cans located in placement areas of different widths, thereby increasing the applicability of the present invention and enabling the present invention to be used in a variety of trash can transporting scenarios, thereby reducing the adjustment difficulty and cost of the present invention.

[0145] See also Figures 8 to 10 The second pushing mechanism 5 also includes a front slide rail 52, a rear slide rail 53 and a scissor-type link 54. The vertical horizontal surface of the front slide rail 52 is set on the grasping device 6, and the vertical horizontal surface of the rear slide rail 53 is set on the slider 31. The two upper end points of the scissor-type link 54 are fixedly connected to the front slide rail 52 and the rear slide rail 53 respectively, and the two lower end points of the scissor-type link 54 are slidably connected to the front slide rail 52 and the rear slide rail 53 respectively.

[0146] See also Figures 8 to 10 The second pushing mechanism 5 is also provided with a front slide rail 52, a rear slide rail 53 and a scissor-type link 54. The front slide rail 52, the rear slide rail 53 and the scissor-type link 54 are used to enable the grabbing device 6 to extend or contract when the second telescopic member 51 is extended or contracted. The two lower end points of the scissor-type link 54 slide in the front slide rail 52 and the rear slide rail 53 respectively, so that the scissor-type link 54 extends or contracts corresponding to the second telescopic member 51, thereby enabling the grabbing device 6 to move back and forth stably in the horizontal direction, so that the grabbing device 6 can firmly grab the trash can and move the trash can to the transport area 17.

[0147] See also Figures 8 to 10 The grabbing device 6 includes a connecting plate 61 and an insertion arm. The connecting plate 61 is connected to the second pushing mechanism 5. The front slide rail 52 is arranged on the connecting plate 61. The insertion arm includes a mounting plate 63, and an anti-slip unit 65 and an insertion block 62 arranged on the mounting plate 63. The rear side of the mounting plate 63 is connected to the connecting plate 61 through a plurality of connecting rods 64. The insertion block 62 is vertically arranged relative to the horizontal plane; when the lifting device 3 lifts the grabbing device 6, the insertion block 62 moves from the lower part of the trash can to the upper part of the trash can, and is detachably connected to the socket on the outer edge of the upper end of the trash can (not shown in the figure). The anti-slip unit 65 approaches the trash can with the insertion block 62 and fits tightly against the outside of the trash can.

[0148] The grabbing device 6 has a simple structure and low component cost, and uses an insert arm to connect with the socket on the outer edge of the upper end of the trash can, so that the grabbing device 6 can easily grab and unload the trash can. It is simple to operate and has high reliability. In addition, by adding an anti-slip unit 65, the anti-slip ability of the working surface of the grabbing device 6 in contact with the trash can can be improved, so that the grabbing device 6 can stabilize and fix the side of the trash can, ensuring that the grabbing device 6 firmly grasps the trash can when lifting, carrying, and lowering it, preventing the trash can from loosening and falling, causing damage to the trash can and spilling garbage outside the trash can.

[0149] See also Figures 8 to 10 Specifically, there are three insert blocks 62 , and the three insert blocks 62 are equidistantly arranged on the upper portion of the outer end surface of the mounting plate 63 .

[0150] Specifically, the grabbing device 6 is provided with a distance sensor (not shown in the figure), and the distance sensor is used to detect the distance between the grabbing device 6 and the trash can.

[0151] Specifically, two anti-skid units 65 are vertically arranged, and the anti-skid units 65 are rubber blocks.

[0152] Specifically, the second telescopic member 51 is a hydraulic cylinder, the telescopic end of the second telescopic member 51 is hinged to the connecting plate 61 , and the fixed end of the second telescopic member 51 is hinged to the slider 31 .

[0153] Specifically, there are two front slide rails 52, two rear slide rails 53 and two scissor-type links 54 respectively. The two front slide rails 52 are arranged on both sides of the connecting plate 61, and the two rear slide rails 53 are arranged on both sides of the slider 31. The scissor-type links 54 are arranged corresponding to the front slide rails 52 and the rear slide rails 53.

[0154] It also includes a navigation sensing mechanism (not shown in the figure), which is one of a magnetic point navigation device, a magnetic guide rail navigation device, a visual navigation device, a laser navigation device, an infrared navigation device, an ultrasonic navigation device, and a QR code navigation device. The navigation sensing mechanism is arranged on the frame 10 or the lifting device 3, the navigation sensing mechanism is communicatively connected to the control mechanism, and the power supply module 19 is electrically connected to the navigation sensing mechanism;

[0155] If the navigation sensing mechanism is one of a magnetic point navigation device, a magnetic guide rail navigation device, and a QR code navigation device, relevant markers are provided on the trash can for sensing.

[0156] Example 2

[0157] See also Figures 11 to 14 This embodiment is an improved solution of the first embodiment. The difference between this embodiment and the first embodiment lies in the setting mode of the grabbing device 6.

[0158] The grabbing device 6 includes a connecting plate 61 and two inserting arms, the connecting plate 61 is connected to the second pushing mechanism 5, the front slide rail 52 is arranged on the connecting plate 61, and the two inserting arms are relatively arranged on both sides of the connecting plate 61, and the distance between the two inserting arms is adapted to the distance between the left and right side walls of the upper part of the trash can. The inserting arm includes a mounting plate 63, the rear side of the mounting plate 63 is connected to the connecting plate 61 by a plurality of connecting rods 64, the length of the connecting rod 64 is not greater than the distance between the front and rear side walls of the upper part of the trash can, and the mounting plate 63 is provided with an anti-slip unit 65 and an inserting block 62 on one side opposite to the other mounting plate 63. The inserting block 62 is arranged vertically relative to the horizontal plane, and the anti-slip unit 65 is connected to a vacuum generating device (not shown in the figure); when the lifting device 3 lifts the grabbing device 6, the inserting block 62 moves from the bottom of the trash can to the top of the trash can, and is detachably plugged into the socket on the outer edge of the upper end of the trash can, and the anti-slip unit 65 approaches the trash can with the inserting block 62 and fits tightly against the outer side of the trash can.

[0159] Specifically, two anti-slip units 65 are provided.

[0160] Example 3

[0161] This embodiment is an improvement of the first or second embodiment. The difference between this embodiment and the first or second embodiment lies in the arrangement of the lifting mechanism.

[0162] See also Figures 15 to 17 As an improved solution of Example 1, the lifting mechanism includes a first telescopic member 33, a first pulley 321 and a traction member 322. The first telescopic member 33 is fixedly connected to the sliding member 2. The first pulley 321 is set on the telescopic end of the first telescopic member 33. One end of the traction member 322 is fixedly connected to the fixed end of the first telescopic member 33. The other end of the traction member 322 is passed through the first pulley 321 and connected to the slider 31.

[0163] In this embodiment, the rear ends of the first door frame 41 and the second door frame 42 are connected by a vertical plate 44 , and one end of the traction member 322 is fixedly connected to the vertical plate 44 so that one end of the traction member 322 is fixedly connected relative to the door frame 4 .

[0164] Specifically, the traction member 322 is a chain.

[0165] Specifically, two first pulleys 321 and two traction members 322 are provided respectively. The two first pulleys 321 are arranged side by side on the first telescopic member 33 . The free ends of the two traction members 322 are connected to both sides of the slider 31 after being wound around the corresponding first pulleys 321 .

[0166] By providing the two first pulleys 321 and the traction member 322 , the left and right sides of the slider 31 can be lifted respectively, thereby improving the stability of the slider 31 when moving up and down, and ensuring that the clamping device can be stably lifted by the lifting device 3 after clamping the empty trash can 91 .

[0167] See also Figures 18 and 19 The accompanying drawings show a schematic diagram of the garbage bin transporting robot 1 after the original lifting mechanism is replaced with the above-mentioned lifting mechanism arrangement on the basis of the second embodiment.

[0168] Compared with the prior art, the garbage bin handling robot 1 of the present invention has the following beneficial effects:

[0169] (1) The present invention can automatically transport garbage bins located on the ground on the work surface, thereby replacing a fully loaded garbage bin 92 with an empty garbage bin 91, and transporting the fully loaded garbage bin 92 to a garbage truck. The invention has a high degree of intelligence, a fast transport speed, and reduces human intervention, thereby overcoming the problems of high labor intensity, low efficiency, high labor cost, and labor shortage caused by traditional manual transport of garbage bins, effectively reducing the input of human resources in urban garbage disposal, and alleviating the pressure of garbage disposal;

[0170] (2) The trash bin handling robot 1 of the present invention is composed of three core components: a frame 10, a lifting device 3 and a gripping device 6, thereby modularizing and simplifying the internal structure of the trash bin handling robot 1, making the robot easy to install, control and maintain, thereby reducing maintenance costs. In addition, when the trash bin handling robot 1 is working, the frame 10 moves close to the trash bin, the lifting device 3 moves forward and lifts the gripping device 6, and the gripping device 6 is fixedly connected to the outside of the trash bin, which is simple to operate, stable and reliable, and can prevent the trash bin from tipping over during the handling process, causing the garbage in the trash bin to dump out. By adjusting the gripping device 6, the trash bin handling robot 1 can handle trash bins of different specifications, thereby improving the scope of application of the present invention.

[0171] Example 4

[0172] See also Figures 18 to 21 、 Figure 23 and Figure 24 Another object of the present invention is to provide a garbage bin handling device using the above-mentioned garbage bin handling robot 1, which includes a garbage truck and a garbage bin handling robot 1, the garbage truck includes a tractor 7, a first carriage 71 and a second carriage 8, and the first carriage 71 and the second carriage 8 are connected to the tractor 7 in sequence.

[0173] A box collection area 72 with open sides is provided in the first compartment 71. First opening and closing doors 73 are provided on both sides of the first compartment 71 to selectively close the box collection area 72. The first opening and closing doors 73 are opened in an upward flipping manner. A plurality of partitions 74 are provided in the box collection area 72. The plurality of partitions 74 divide the box collection area 72 into a plurality of storage cavities 75. The storage cavities 75 are used for placing garbage bins.

[0174] By setting up several storage cavities 75 for placing garbage bins in the first compartment 71, the garbage bins are positioned to avoid shaking of multiple garbage bins in the box collection area 72 during the movement of the garbage truck, resulting in position displacement, which affects the speed at which the garbage bin handling robot 1 handles the garbage bins.

[0175] See also Figure 22 As an improvement to the first compartment 71 , a plurality of partitions 74 are provided within the collection area 72 of the box. The partitions 74 divide the collection area 72 into a plurality of storage chambers 75 and a vacant chamber 76 for storing trash bins. The addition of the vacant chamber 76 facilitates the storage of multiple trash bins within a single storage chamber 75 . The vacant chamber 76 serves as a buffer for the trash handling robot 1 to initially store some of the trash bins within the vacant chamber 76 , thereby allowing the robot to remove trash bins located deep within the storage chamber 75 and thereby increase the speed at which the robot 1 can transport the trash bins.

[0176] A robot placement area 81 with an open rear side is provided in the second compartment 8 , and a second opening and closing door 82 is provided on the rear side of the second compartment 8 to selectively close the robot placement area 81 . The second opening and closing door 82 opens in a downward flipping manner, and the garbage bin transporting robot 1 is located in the robot placement area 81 .

[0177] Compared with the existing technology, the garbage bin handling device of the present invention uses garbage trucks to store and transport garbage bins, and uses a garbage bin handling robot 1 to replace a fully loaded garbage bin 92 with an empty garbage bin 91, thereby realizing intelligent transportation of garbage bins, thereby realizing unmanned transfer of garbage, with a high degree of intelligence, fast handling speed, reduced human intervention, effectively reducing the input of human resources in urban garbage disposal, and alleviating the pressure of garbage disposal.

[0178] Example 5

[0179] See also Figure 25 、 Figures 27 to 33 Another object of the present invention is to provide a method for transporting a garbage bin using a garbage bin transporting device, comprising the following steps:

[0180] (a1) The garbage truck moves to the work area, and the garbage bin handling robot 1 moves from the garbage truck to the work area;

[0181] (a2) The trash bin transporting robot 1 moves an empty trash bin 91 from the bin collection area 72 and moves it closer to the trash placement area 9;

[0182] (a3) The waste container transporting robot 1 removes the fully loaded waste container 92 from the waste storage area 9;

[0183] (a4) The trash bin transporting robot 1 places an empty trash bin 91 into the trash storage area 9;

[0184] (a5) The trash bin handling robot 1 moves the fully loaded trash bin 92 into the bin collection area 72;

[0185] (a6) Repeat steps (a2) to (a5) until the garbage bin transporting robot 1 replaces all full garbage bins 92 in the garbage placement area 9 with empty garbage bins 91; the garbage bin transporting robot 1 moves from the working area back to the garbage truck.

[0186] Step (a2) comprises the following steps:

[0187] (a2.1) The waste bin handling robot 1 moves to the storage cavity 75 of the bin collection area 72 and is positioned around the empty waste bin 91;

[0188] (a2.2) The lifting device 3 operates, so that the grabbing device 6 is connected to the outer edge of the upper end of the empty trash can;

[0189] (a2.3) The garbage bin transporting robot 1 approaches the side of the garbage placement area 9;

[0190] (a2.4) The lifting device 3 works, so that the grabbing device 6 is disconnected from the empty trash bin 91, and the empty trash bin 91 is placed at the current position.

[0191] The above-mentioned transporting method ensures that the trash bin transporting robot 1 maintains a certain distance from the empty trash bin 91 before transporting the empty trash bin 91, avoiding the trash bin transporting robot 1 being too close to the empty trash bin, causing the trash bin transporting robot 1 to scratch the empty trash bin and affect the transport of the empty trash bin 91.

[0192] Furthermore, step (a2.2) includes the following steps:

[0193] (a2.2.1) The lifting device 3 moves forward into the storage cavity 75 and approaches the side of the empty trash bin 91;

[0194] (a2.2.2) The lifting device 3 lifts the grabbing device 6, so that the grabbing device 6 moves from the lower part of the empty trash bin 91 to the upper part of the empty trash bin and connects with the outer edge of the upper end of the empty trash bin;

[0195] (a2.2.3) The lifting device 3 is reset backward so that the empty trash box 91 is located in the transport area 17.

[0196] In the above-mentioned transporting method, after the grabbing device 6 grabs the empty trash can 91, it moves backward so that the empty trash can 91 is located in the transporting area 17. On the one hand, the overall structure of the trash can transporting robot 1 is used to protect the empty trash can 91, preventing the empty trash can 91 from being hit by foreign objects and overturning. On the other hand, the overall center of gravity of the empty trash can 91 and the trash can transporting robot 1 can be shifted to the middle of the transporting area 17, thereby improving the stability of the trash can transporting robot 1 during movement.

[0197] Furthermore, step (a2.4) includes the following steps:

[0198] (a2.4.1) Lifting device 3 moves forward;

[0199] (a2.4.2) The lifting device 3 descends, the gripping device 6 is disconnected from the empty trash bin 91, and the empty trash bin 91 is placed at the current position;

[0200] (a2.4.3) The grabbing device 6 and the lifting device 3 are reset.

[0201] In the above-mentioned transporting method, the gripping device 6 and the lifting device 3 are reset after completing the transporting task. On the one hand, the center of gravity of the garbage bin transporting robot 1 is shifted to the middle of the transporting area 17, thereby improving the stability of the garbage bin transporting robot 1 during movement, thereby increasing the moving speed. On the other hand, the overall structure of the garbage bin transporting robot 1 can be used to protect the gripping device 6 and the lifting device 3, thereby preventing the gripping device 6 and the lifting device 3 from colliding with foreign objects.

[0202] Step (a3) ​​comprises the following steps:

[0203] (a3.1) The waste bin handling robot 1 approaches the side of the fully loaded waste bin 92 located in the waste storage area 9;

[0204] (a3.2) The lifting device 3 operates, so that the grabbing device 6 is connected to the outer edge of the upper end of the full trash can;

[0205] (a3.3) The trash bin transporting robot 1 moves to the side of the trash placement area 9 opposite to the empty trash bin 91;

[0206] (a3.4) The lifting device 3 works, so that the grabbing device 6 is disconnected from the full trash bin 92, and the full trash bin 92 is placed at the current position.

[0207] The above-mentioned transporting method places the empty trash bin 91 and the fully loaded trash bin 92 on opposite sides of the trash placement area 9, respectively, so that there is enough space between the trash placement area 9, the empty trash bin 91 and the fully loaded trash bin 92 for the trash bin transporting robot 1 to perform the transporting operation, thereby preventing the empty trash bin 91 and the fully loaded trash bin 92 from being hit by the trash bin transporting robot 1, so that the trash bin transporting robot 1 can smoothly replace the fully loaded trash bin 92 with the empty trash bin 91.

[0208] Furthermore, step (a3.2) includes the following steps:

[0209] (a3.2.1) The lifting device 3 moves forward to the side of the full trash container 92;

[0210] (a3.2.2) The lifting device 3 lifts the grabbing device 6, so that the grabbing device 6 moves from the lower part of the full trash bin 92 to the upper part of the full trash bin and connects with the outer edge of the upper end of the full trash bin;

[0211] (a3.2.3) The lifting device 3 is reset backward so that the fully loaded trash box 92 is located in the transport area 17.

[0212] In the above-mentioned transport method, after the gripping device 6 grips the fully loaded trash bin 92, it moves backward so that the fully loaded trash bin 92 is located in the transport area 17. On the one hand, the entirety of the trash bin transporting robot 1 is used to protect the fully loaded trash bin 92, thereby preventing the fully loaded trash bin 92 from being hit by foreign objects and overturning. On the other hand, the overall center of gravity of the fully loaded trash bin 92 and the trash bin transporting robot 1 can be shifted toward the middle of the transport area 17, thereby improving the stability of the trash bin transporting robot 1 when moving.

[0213] Furthermore, step (a3.4) includes the following steps:

[0214] (a3.4.1) Lifting device 3 moves forward;

[0215] (a3.4.2) The lifting device 3 descends, the gripping device 6 is disconnected from the full trash bin 92, and the full trash bin 92 is placed in the current position;

[0216] (a3.4.3) The grabbing device 6 and the lifting device 3 are reset.

[0217] Step (a4) comprises the following steps:

[0218] (a4.1) The trash bin transporting robot 1 approaches an empty trash bin 91;

[0219] (a4.2) The lifting device 3 operates, so that the grabbing device 6 is connected to the outer edge of the upper end of the empty trash can;

[0220] (a4.3) The garbage bin transporting robot 1 moves to the garbage placement area 9;

[0221] (a4.4) The lifting device 3 operates to release the connection between the grabbing device 6 and the empty trash bin 91, and the empty trash bin 91 is placed at the current position;

[0222] (a4.5) The garbage bin transporting robot 1 exits the garbage placement area 9.

[0223] Furthermore, step (a4.2) includes the following steps:

[0224] (a4.2.1) The lifting device 3 moves forward to the side of the empty trash bin 91;

[0225] (a4.2.2) The lifting device 3 lifts the grabbing device 6, so that the grabbing device 6 moves from the lower part of the empty trash bin 91 to the upper part of the empty trash bin and connects with the outer edge of the upper end of the empty trash bin;

[0226] (a4.2.3) The lifting device 3 is reset backward so that the empty trash box 91 is located in the transport area 17.

[0227] Furthermore, step (a4.4) includes the following steps:

[0228] (a4.4.1) Lifting device 3 moves forward;

[0229] (a4.4.2) The lifting device 3 descends, the gripping device 6 is disconnected from the empty trash bin 91, and the empty trash bin 91 is placed at the current position;

[0230] (a4.4.3) The grabbing device 6 and the lifting device 3 are reset.

[0231] Step (a5) comprises the following steps:

[0232] (a5.1) The waste bin handling robot 1 approaches the fully loaded waste bin 92;

[0233] (a5.2) The lifting device 3 operates, so that the grabbing device 6 is connected to the outer edge of the upper end of the full trash can;

[0234] (a5.3) The garbage bin handling robot 1 moves to the bin collection area 72;

[0235] (a5.6) The lifting device 3 works to place the fully loaded trash bin 92 into the empty storage cavity 75 of the bin collection area 72 .

[0236] Furthermore, step (a5.2) includes the following steps:

[0237] (a5.2.1) The lifting device 3 moves forward to the side of the full trash container 92;

[0238] (a5.2.2) The lifting device 3 lifts the grabbing device 6, so that the grabbing device 6 moves from the lower part of the full trash bin 92 to the upper part of the full trash bin and connects with the outer edge of the upper end of the full trash bin;

[0239] (a5.2.3) The lifting device 3 is reset backward so that the fully loaded trash container 92 is located in the transport area 17.

[0240] Specifically, in step (a5.6), the lifting device 3 is lowered, and the gripping device 6 is disconnected from the fully loaded trash bin 92.

[0241] Specifically, markers are provided on the storage cavity 75 and the trash can. The trash can handling robot 1 can identify whether the storage cavity 75 is full of trash cans and whether the trash can is a full trash can or an empty trash can based on the identification markers.

[0242] Example 6

[0243] See also Figures 26 to 33 As an improvement of the sixth embodiment, when the storage cavity 75 of the bin collection area 72 of the garbage truck is in an initial state, at least two or more empty garbage bins 91 are stored.

[0244] A method for transporting a garbage bin using a garbage bin transporting device, comprising the following steps:

[0245] (b1) The garbage truck moves to the work area, and the garbage bin handling robot 1 moves from the garbage truck to the work area;

[0246] (b2) The trash bin transporting robot 1 moves an empty trash bin 91 from the bin collection area 72 and moves it closer to the trash placement area 9;

[0247] (b3) the waste container transporting robot 1 removes the fully loaded waste container 92 from the waste storage area 9;

[0248] (b4) The trash bin transporting robot 1 places an empty trash bin 91 into the trash storage area 9;

[0249] (b5) The trash bin handling robot 1 moves the fully loaded trash bin 92 into the empty cavity 76 of the bin collection area 72;

[0250] (b6) Repeat steps (b2) to (b5) until at most one empty trash bin 91 is stored in one of the storage cavities 75 in the bin collection area 72 or all full trash bins 92 in the trash placement area 9 are replaced with empty trash bins 91. If all full trash bins 92 in the trash placement area 9 have been replaced with empty trash bins 91, the trash bin transporting robot 1 moves from the working area back to the garbage truck, otherwise proceed to step (b7);

[0251] (b7) The trash bin transport robot 1 moves the empty trash bin 91 out of the storage cavity 75 of the bin collection area 72 and moves it closer to the trash placement area 9;

[0252] (b8) The waste container transporting robot 1 removes the fully loaded waste container 92 from the waste storage area 9;

[0253] (b9) The trash bin transporting robot 1 places an empty trash bin 91 into the trash storage area 9;

[0254] (b10) The waste container transporting robot 1 moves a full waste container 92 into an empty storage cavity 75 of the container collection area 72 or into a storage cavity 75 that stores at least one full waste container 92 but is not full.

[0255] (b11) Repeat steps (b7) to (b10) until the garbage bin transporting robot 1 replaces all full garbage bins 92 in the garbage placement area 9 with empty garbage bins 91; the garbage bin transporting robot 1 moves from the working area back to the garbage truck.

[0256] In the above-mentioned transporting method, when multiple trash cans are stored in a single storage cavity 75, the empty cavity 76 is used as a buffer space for the trash can transporting robot 1 to first store some of the trash cans in the empty cavity 76, thereby taking out the trash cans located deep in the storage cavity 75, thereby increasing the speed at which the trash can transporting robot 1 transports the trash cans.

[0257] Specifically, markers are provided on the storage cavity 75, the empty cavity 76 and the trash can. The trash can handling robot 1 can obtain the positions of the empty cavity 76 and the storage cavity 75 based on the identification markers, calculate the number of trash cans in the storage cavity 75, identify whether the storage cavity 75 is full of trash cans, and whether the trash can is a full trash can or an empty trash can.

[0258] In this embodiment, steps (b2) and (b7) are the same, steps (b3) and (b8) are the same, and steps (b4) and (b9) are the same, and (b2), (b3), and (b4) are respectively the same as steps (a2), (a3), and (a4) of Example 5. Therefore, (b2), (b3), (b4), (b7), (b8), and (b9) are not described in detail here.

[0259] Step (b5) comprises the following steps:

[0260] (b5.1) The waste bin handling robot 1 approaches the fully loaded waste bin 92;

[0261] (b5.2) The lifting device 3 operates, so that the grabbing device 6 is connected to the upper outer edge of the full trash can;

[0262] (b5.3) The garbage bin handling robot 1 moves to the bin collection area 72;

[0263] (b5.4) The lifting device 3 works to place the fully loaded trash bin 92 into the empty cavity 76 of the bin collection area 72 .

[0264] Furthermore, step (b5.2) includes the following steps:

[0265] (b5.2.1) The lifting device 3 moves forward to the side of the full trash container 92;

[0266] (b5.2.2) The lifting device 3 lifts the grabbing device 6, so that the grabbing device 6 moves from the lower part of the full trash bin 92 to the upper part of the full trash bin and connects with the outer edge of the upper end of the full trash bin;

[0267] (b5.2.3) The lifting device 3 is reset backwards so that the fully loaded waste container 92 is located in the transport area 17;

[0268] Furthermore, in step (b5.4), the gripping device 6 is disconnected from the full trash bin 92 , and the full trash bin 92 is placed into the empty cavity 76 of the bin collection area 72 .

[0269] Compared with the prior art, the garbage bin handling method of the garbage bin handling device of the present invention utilizes a garbage truck to store and transport garbage bins, and utilizes a garbage bin handling robot 1 to replace a fully loaded garbage bin 92 with an empty garbage bin 91, thereby realizing intelligent handling of the garbage bin, thereby realizing unmanned transfer of garbage. The equipment used has the advantages of low cost, simple operation, small space occupation, good protection of the garbage bin, and few restrictions on the working objects and working scenes. In addition, the garbage bin handling method of the garbage bin handling device of the present invention has strong flexibility, fast operating speed, large handling capacity, and strong reliability, and is convenient for large-scale promotion and use.

[0270] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and any modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. A method for transporting a garbage bin using a garbage bin transporting device, characterized in that: The garbage bin handling device includes a garbage truck and a garbage bin handling robot; the garbage bin handling robot is used to carry garbage bins between a garbage placement area and a garbage truck, and the garbage bin handling robot includes a frame, a lifting device, and a gripping device; the frame is provided with a handling area, the lifting device is arranged to be movable forward and backward within the handling area, and the lifting device is used to lift the gripping device so that the gripping device can grip a garbage bin; a bin collection area is provided in the garbage truck, and the bin collection area is divided into a plurality of storage cavities and an empty cavity, the storage cavities and the empty cavity are used for placing garbage bins, and the storage cavity stores empty garbage bins; The garbage bin transporting method comprises the following steps: (b1) The garbage bin handling robot moves to the working area; (b2) the trash bin transport robot moves an empty trash bin out of the storage cavity in the bin collection area and moves it closer to the trash placement area; (b3) The waste bin handling robot removes the full waste bin from the waste placement area; (b4) The garbage bin transporting robot places an empty garbage bin in the garbage storage area; (b5) The trash bin handling robot moves the fully loaded trash bin into the empty cavity of the bin collection area; (b6) repeating steps (b2) to (b5) until at most one empty trash bin is stored in one of the storage cavities in the bin collection area or all full trash bins in the trash placement area are replaced with empty trash bins. If all full trash bins in the trash placement area have been replaced with empty trash bins, the trash bin handling robot moves from the working area back to the garbage truck, otherwise proceeding to step (b7); (b7) The trash bin transport robot moves an empty trash bin out of the storage cavity in the bin collection area and moves it closer to the trash placement area; (b8) The trash bin handling robot removes the full trash bin from the trash placement area; (b9) The garbage bin transporting robot places an empty garbage bin in the garbage storage area; (b10) The garbage bin transporting robot moves a full garbage bin into an empty storage cavity in the bin collection area or into a storage cavity that stores at least one full garbage bin but is not full; (b11) Repeat steps (b7) to (b10) until the trash bin transporting robot replaces all full trash bins in the trash placement area with empty trash bins.

2. The method for transporting a waste container using a waste container transporting device according to claim 1, wherein: Steps (b2) and (b7) comprise the following steps: (c1) The waste bin handling robot moves to the storage cavity of the bin collection area and is located around the empty waste bin; (c2) the lifting device moves forward into the storage cavity and approaches the side of the empty trash bin; (c3) the lifting device lifts the grabbing device so that the grabbing device moves from the lower portion of the empty trash bin to the upper portion of the empty trash bin and connects with the outer edge of the upper end of the empty trash bin; (c4) The lifting device is reset backwards so that the empty trash container is located within the handling area; (c5) The garbage bin transporting robot is close to the side of the garbage placement area; (c6) The lifting device moves forward; (c7) the lifting device descends, the gripping device is disconnected from the empty trash bin, and the empty trash bin is placed at the current location; (c8) Reset the grabbing device and lifting device.

3. The method for transporting a waste container using a waste container transporting device according to claim 1, wherein: Steps (b3) and (b8) include the following steps: (d1) The waste container transport robot approaches the side of a fully loaded waste container located in the waste placement area; (d2) The lifting device moves forward close to the side of the full trash container; (d3) the lifting device lifts the grabbing device so that the grabbing device moves from the lower part of the full trash bin to the upper part of the full trash bin and connects with the outer edge of the upper end of the full trash bin; (d4) The lifting device is reset backward so that the fully loaded trash container is located within the handling area. (d5) The trash bin transport robot moves to the side of the trash placement area opposite to the empty trash bin; (d6) The lifting device moves forward; (d7) The lifting device descends, the gripping device is disconnected from the full trash bin, and the full trash bin is placed at the current location; (d8) Reset the grabbing device and lifting device.

4. The method for transporting a waste container using a waste container transporting device according to claim 1, wherein: Steps (b4) and (b9) include the following steps: (e1) The trash bin handling robot approaches an empty trash bin; (e2) The lifting device moves forward close to the side of the empty trash container; (e3) the lifting device lifts the grabbing device so that the grabbing device moves from the lower portion of the empty trash bin to the upper portion of the empty trash bin and connects with the outer edge of the upper end of the empty trash bin; (e4) The lifting device is reset backward so that the empty trash container is located in the handling area. (e5) The garbage bin transporting robot moves to the garbage placement area; (e6) The lifting device moves forward; (e7) The lifting device descends, the gripping device is disconnected from the empty trash bin, and the empty trash bin is placed at the current location; (e8) Resetting the grabbing and lifting devices (e9) The garbage bin transporting robot exits the garbage placement area.

5. The method for transporting a waste container using a waste container transporting device according to claim 1, wherein: Step (b5) comprises the following steps: (b5.1) The trash bin handling robot approaches a fully loaded trash bin; (b5.2) The lifting device operates to connect the grabbing device with the upper outer edge of the full trash can; (b5.3) The garbage bin handling robot moves to the bin collection area; (b5.4) The lifting device operates to place the fully loaded trash bin into the empty cavity in the collection area of ​​the bin.

Images