Automatic folding and conveying equipment and automatic folding and conveying system for garbage bins

Abstract

The present invention discloses an automatic folding and conveying device and an automatic folding and conveying system for a garbage can, and belongs to the technical field of handling equipment. The automatic folding and conveying device includes a base plate, a moving device, a folding device, a first driving device, a second driving device, and a third driving device. The folding device is installed above the base plate. The folding device includes a transverse frame, a lifting frame, a flip frame, and a grabbing structure. The folding device is used to grab the garbage can from the ground to the base plate or put it down from the base plate to the ground. The moving device is connected to the base plate, and the moving device is used to drive the entire device to travel and move. The automatic folding and conveying system for a garbage can includes an automatic folding and conveying device and a garbage can, and the garbage can includes a grabbing matching part. The present invention can automatically grab, transport, and put down the garbage can, realize the automatic transportation of the garbage can, and there is no need to manually lift the garbage can, thereby reducing labor intensity and reducing the risk of garbage recycling workers being infected with bacteria and viruses due to contact with the garbage can.

Description

Technical Field

[0001] The present invention relates to the technical field of handling equipment, and in particular to an automatic retractable and conveying equipment and an automatic retractable and conveying system for a garbage bin. Background Art

[0002] In the related art, when a target object needs to be transferred from a first location to a second location, the target object is generally moved to a shelf manually, and then the shelf is dragged to the second location to achieve the transportation of the target object. When garbage is recycled in hospitals, hotels and other places, the garbage can is generally moved to a shelf manually, and the shelf is dragged to transfer the garbage can to a designated area for garbage recycling to achieve the transportation of the garbage can.

[0003] However, the transportation of trash cans or other target objects requires manual lifting and dragging. When the shelf height is high, it is difficult to manually lift the target object. Therefore, the transportation method of trash cans or other objects in the related art has the problems of high labor intensity and low efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide an automatic storage and transportation device and an automatic storage and transportation system for a trash can, which can automatically grab, transport and put down the trash can, realize automatic transportation and reduce labor intensity.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An automatic retractable conveying device, comprising:

[0007] The bottom plate has a top forming a placement area, and the placement area provides a location for placing a trash can;

[0008] A moving device connected to the base plate;

[0009] The folding and unfolding device comprises a transverse frame, a lifting frame, a flip frame and a grasping structure; the transverse frame is slidably mounted on the bottom plate, and the lifting frame is slidably mounted on the transverse frame; the flip frame comprises a main frame body and a plurality of lifting arms, the lifting arms are arranged between the lifting frame and the main frame body, one end of the lifting arm is hinged to the lifting frame, and the other end is hinged to the main frame body; the grasping structure is arranged on the main frame body, and the grasping structure is used to grasp the target object;

[0010] The driving assembly includes a first driving device, a second driving device and a third driving device; the first driving device is used to drive the transverse frame to move along the y-axis direction; the second driving device is used to drive the lifting frame to move along the z-axis direction; the third driving device is used to drive the lifting arm to flip relative to the lifting frame, so that the grasping structure moves toward or away from the base plate.

[0011] Preferably, the moving device is an AGV trolley, which is arranged below the bottom plate and connected to the bottom plate; the AGV trolley is used to drive the retracting and releasing device to move.

[0012] Preferably, the retractable device comprises two guide members arranged at intervals, one end of the guide member is connected to the main frame, and the other end is a free end; a clamping space is formed between the two guide members;

[0013] The guide member is inclined from an end close to the main frame to an end away from the main frame in a direction away from the clamping space; the guide member is used to guide the target object to the main frame.

[0014] Preferably, the guide member includes a guide rod and a plurality of guide wheels; one end of the guide rod is connected to the main frame, and the other end is a free end; the guide wheel is rotatably mounted on the guide rod, and the plurality of guide wheels are arranged at intervals along the length direction of the guide rod.

[0015] Preferably, it comprises one or more travel switches; the travel switch is mounted on the main frame, and the travel switch is arranged between the two guide members.

[0016] Preferably, the plurality of lifting arms include at least two upper lifting arms and at least two lower lifting arms; the flip frame includes a connecting arm provided between two adjacent upper lifting arms, and two ends of the connecting arm are respectively connected to the upper lifting arms on both sides;

[0017] The third driving device is a linear driving mechanism, comprising a third driving body and a third driving part connected to the third driving body, the third driving body is hinged to the lifting frame, and the third driving part is hinged to the connecting arm; the third driving part is used to push and pull the connecting arm so that the upper lifting arm rotates relative to the lifting frame.

[0018] Preferably, the plurality of lifting arms include at least two upper lifting arms and at least two lower lifting arms;

[0019] The flip frame has a flat position and a raised position; when the flip frame is in the flat position, the upper lifting arm and the lower lifting arm are parallel to the bottom plate; when the flip frame is in the raised position, the upper lifting arm and the lower lifting arm are perpendicular to the bottom plate.

[0020] Preferably, the lifting frame comprises a lifting top rod, a lifting side rod and a lifting cross rod, wherein the lifting side rod is connected to the lifting top rod, and the lifting cross rod is connected to the lifting side rod; the lifting side rod is arranged on a side of the lifting top rod close to the bottom plate, and the lifting cross rod is arranged on the front side of the lifting side rod;

[0021] The main frame includes a frame structure and a frame cross bar; the frame structure includes an upper frame, a side frame and a lower frame; one end of the side frame is connected to the upper frame, and the other end is connected to the lower frame; the frame cross bar is arranged on the front side of the frame structure; the frame cross bar is connected to the side frame, or the frame cross bar is connected to the lower frame;

[0022] The upper lifting arm is hinged to the lifting top rod through a first rotating shaft, and the upper lifting arm is hinged to the upper frame through a second rotating shaft; the lower lifting arm is hinged to the lifting cross bar through a third rotating shaft, and the lower lifting arm is hinged to the frame cross bar through a fourth rotating shaft;

[0023] The grabbing structure is arranged on the upper frame, the guide member is arranged on the side frame or the lower frame, and the travel switch is arranged on the lower frame; when the flip frame is located in the flat position, the third rotating shaft is located in front of the first rotating shaft, the fourth rotating shaft is located in front of the second rotating shaft, the frame structure is inclined relative to the bottom plate, the lower frame is located in front of the upper frame, and the grabbing structure is located on the rear side of the guide member.

[0024] Preferably, it includes a limiting plate, which is connected to the bottom plate; the limiting plate protrudes relative to the bottom plate, the limiting plate encloses the placement area, and the limiting plate is used to limit the movement of the trash can.

[0025] A trash can automatic folding and conveying system comprises a trash can and the automatic folding and conveying device as described in the above technical solution; the trash can comprises a grabbing and fitting portion, and the grabbing structure grabs or puts down the trash can by grabbing or disengaging from the grabbing and fitting portion.

[0026] Preferably, the automatic storage and delivery equipment includes a laser radar, which is installed on the bottom plate or the transverse frame, and is used to detect the position of the trash can; a reflective device is provided on one or more of the left side, right side, and rear side of the trash can, and the reflective device is used to reflect the laser beam emitted by the laser radar.

[0027] Preferably, the grabbing structure is a grabbing hook, and a groove is arranged on the top of the grabbing hook; the trash can comprises a barrel body, and the grabbing mating part is a handle connected to the barrel body, and the handle protrudes relative to the rear side of the barrel body; when the handle is inserted into the groove of the handle, the grabbing hook grabs the trash can through the handle.

[0028] The beneficial effects of the present invention are as follows: the automatic retractable and conveying equipment can realize automatic grabbing, conveying and placing down of garbage bins, can realize completely unmanned transportation of garbage bins, reduce labor intensity, and the garbage bins can be placed directly on the bottom plate. The equipment has a simple structure and low cost; the automatic retractable and conveying equipment grabs the garbage bin from the front side when working, has small requirements on the width of the working environment, and is conducive to working in narrow aisles; the automatic retractable and conveying equipment is used in hospitals, hotels and other places, which is conducive to reducing the risk of garbage recycling workers being infected with bacteria and viruses.

[0029] The automatic retrieval and delivery system for trash cans can realize automatic grabbing, delivery and placement of trash cans through the cooperation of automatic retrieval and delivery equipment with trash cans, thereby improving the efficiency of trash recycling. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0031] Figure 1 A schematic diagram of the structure of the automatic retractable transport system according to an embodiment of the present invention (the pick-and-place device is in a placed state in the figure);

[0032] Figure 2 This is a schematic diagram of an automatic retractable conveying equipment system according to an embodiment of the present invention, in which some structures are omitted (the pick-up and place device is in a placed state in the figure);

[0033] Figure 3 This is one of the process diagrams of the automatic retractable and conveying device for recycling garbage bins according to an embodiment of the present invention;

[0034] Figure 4 This is a second process diagram of the automatic retractable and conveying device for recycling trash cans according to an embodiment of the present invention;

[0035] Figure 5 This is a third process diagram of the automatic retractable and conveying device for recycling trash cans according to an embodiment of the present invention;

[0036] Figure 6 This is a fourth diagram of the process of recycling trash cans using the automatic retractable and conveying device according to an embodiment of the present invention;

[0037] Figure 7 for Figure 6 A magnified view of part A in FIG.

[0038] Figure 8 Figure 5 is a process diagram of the automatic retractable and conveying device for recycling trash cans according to an embodiment of the present invention;

[0039] Fig. 9 for Figure 8 A magnified view of part B in FIG.

[0040] Fig.10 Figure 6 is a process diagram of the automatic retractable and conveying device for recycling trash cans according to an embodiment of the present invention;

[0041] Fig.11 Figure 7 is a process diagram of the automatic retractable and conveying device for recycling trash cans according to an embodiment of the present invention;

[0042] Fig.12 It is a structural schematic diagram of the retractable device according to an embodiment of the present invention;

[0043] Fig.13 for Fig.12 The enlarged view of the C part in FIG.

[0044] Fig.14 It is a schematic diagram of the assembly between the retractable device and the base plate according to an embodiment of the present invention.

[0045] In the figure: 10, bottom plate; 101, placement area; 20, moving device; 30, storage device; 301, clamping space; 31, transverse frame; 311, transverse vertical rod; 32, lifting frame; 321, lifting top rod; 322, lifting side rod; 323, lifting cross rod; 324, first reinforcing rod; 33, turning frame; 331, lifting arm; 3311, upper lifting arm; 3312, lower lifting arm; 3313, connecting arm; 3 32. Main frame; 3321. Upper frame; 3322. Side frame; 3323. Lower frame; 3324. Frame cross bar; 3325. Second reinforcing bar; 34. Grasping structure; 341. Groove; 35. Guide member; 351. Guide rod; 352. Guide wheel; 353. Guide mounting plate; 36. Travel switch; 371. First rotating shaft; 372. Second rotating shaft; 373. Third rotating shaft; 374. Fourth rotating shaft;

[0046] 41. First sliding assembly; 42. Second sliding assembly; 52. Second driving device; 53. Third driving device; 531. Third driving body; 532. Third driving unit; 60. Laser radar; 70. Protective cover; 80. Limiting plate; 90. Trash can; 91. Barrel body; 92. Handle. DETAILED DESCRIPTION

[0047] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0048] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0050] In the related art, when recycling garbage, the garbage can is manually lifted onto the shelf, and then the shelf is manually dragged to transport the garbage can to the designated location, where the garbage in the garbage can is recycled. This garbage can recycling method requires manual lifting of the garbage can onto the shelf with a certain height, which has the problem of high labor intensity. In addition, when recycling garbage in hospitals, hotels and other places, a large number of garbage cans need to be manually lifted and transported, and the existing garbage recycling method requires a lot of manpower.

[0051] The hospital's trash cans are filled with medical waste. When transporting trash cans within the hospital, there is a risk of infection from bacteria when people touch the trash cans. For ordinary hotels, the residents come from all over the place, and the garbage in the hotel's trash cans is of various types. The hotel's trash cans are also prone to breeding bacteria, and workers are prone to infection from bacteria when transporting trash cans. For quarantine hotels with residents with infectious diseases, there is a risk of infectious bacteria when workers transport trash cans.

[0052] In order to solve the problems existing in the recycling and transportation process of the trash can 90 in the related art, the present invention proposes an automatic retractable and unretractable transportation device, which can realize the automatic lifting, transportation, and lowering operations of the target object such as the trash can 90, and can realize the complete unmanned transportation of the trash can 90 or other target objects to the designated location, which can liberate labor and eliminate the need for manual lifting and transportation of the trash can 90 or other target objects, thereby reducing the labor intensity during the transportation of the trash can 90 and improving the transportation efficiency of the trash can 90 and the garbage recycling efficiency. Among them, the target object transported by the automatic retractable and unretractable transportation device can be a logistics box in addition to the trash can 90.

[0053] The automatic retractable and conveying device can be applied to ordinary hotels, quarantine hotels, hospitals, schools, factories, docks and other places. The automatic retractable and conveying device is applied to garbage collection, especially in hospitals and quarantine hotels, to avoid workers from touching the garbage can 90 when lifting and conveying the garbage can 90, thereby reducing the risk of bacterial and viral infection of workers due to contact with the garbage can 90, which is beneficial to protecting the health of workers.

[0054] The present invention also proposes an automatic trash can storage and transportation system, which includes an automatic storage and transportation device and a trash can 90. The trash can 90 is provided with an identification and positioning structure and a grasping and matching part, so that the automatic storage and transportation device can automatically identify where the standard trash can 90 is, and the automatic storage and transportation device can lift or put down the standard trash can 90, thereby realizing the automatic lifting, transportation and putting down of the standard trash can 90.

[0055] Please refer to Figures 1 to 14 Taking the automatic collection and delivery system of garbage bins as an example, the structure and application of the automatic collection and delivery equipment are explained.

[0056] The automatic retractable conveying device includes a base plate 10, a moving device 20 and a retractable device 30. The specific structure of the retractable device 30 is shown in FIG. Figure 12 to Figure 14 As shown. Figure 3 , Figure 4 As shown, the top of the bottom plate 10 forms a placement area 101, and the placement area 101 provides a location for placing the trash can 90. The mobile device 20 is detachably or non-detachably connected to the bottom plate 10. Figure 1 , Figure 6 As shown, the mobile device 20 is used to walk on the ground, and the mobile device is used to complete the navigation and movement functions of the entire device to transfer the standard trash can 90 on the bottom plate 10 from the initial position to the target recycling position. The retracting device 30 is arranged above the bottom plate 10, and there is a certain height difference between the bottom plate 10 and the ground; the retracting device 30 is used to lift the standard trash can 90 onto the bottom plate 10, and also to lift the standard trash can 90 from the bottom plate 10 to the ground.

[0057] like Figures 1 to 14 As shown, the storage device 30 includes a transverse frame 31, a lifting frame 32, a flip frame 33 and a gripping structure 34. The transverse frame 31 is slidably mounted on the bottom plate 10, and the transverse frame 31 can move relative to the bottom plate 10 along the y-axis direction. The lifting frame 32 is slidably mounted on the transverse frame 31, and the lifting frame 32 can move relative to the transverse frame 31 along the z-axis direction.

[0058] The flip frame 33 includes a main frame body 332 and a plurality of lifting arms 331. The lifting arms 331 are disposed between the lifting frame 32 and the main frame body 332, one end of the lifting arms 331 is hinged to the lifting frame 32, and the other end is hinged to the main frame body 332. The grabbing structure 34 is disposed on the main frame body 332, and the grabbing structure 34 is used to grab the trash can 90. Correspondingly, the trash can 90 includes a grabbing matching portion, and the grabbing structure 34 grabs or releases the grabbing matching portion to grab or put down the trash can 90.

[0059] In this embodiment, the y-axis direction is the front-to-back direction, and the z-axis direction is the up-down direction. The transverse frame 31 can move forward and backward on the base plate 10, the lifting frame 32 can move up and down on the transverse frame 31, and the flip frame 33 can flip up and down relative to the lifting frame 32. During the flipping of the flip frame 33, the direction of the grasping structure 34 remains unchanged, and the height of the grasping structure 34 changes, so that the trash can 90 can be smoothly grasped, lifted or lowered.

[0060] Among them, a parallel four-bar linkage is formed between the lifting frame 32, the lifting arm 331, and the main frame body 332. During the flipping of the flip frame 33, the multiple lifting arms 331 remain parallel, the direction of the grabbing structure 34 remains unchanged, and only the height changes. Therefore, during the process of the grabbing structure 34 grabbing, lifting or putting down the trash can 90, the trash can 90 remains in an upright state and will not fall over.

[0061] The automatic folding and conveying device also includes a folding assembly, which includes a first drive device, a second drive device 52 and a third drive device 53. The first drive device is arranged between the transverse frame 31 and the bottom plate 10, and the first drive device is used to drive the transverse frame 31 to move forward and backward relative to the bottom plate 10. The second drive device 52 is arranged between the lifting frame 32 and the transverse frame 31, and the second drive device 52 is used to drive the lifting frame 32 to move up and down relative to the transverse frame 31 and the bottom plate 10. The third drive device 53 is arranged between the lifting frame 32 and the flip frame 33, and the third drive device 53 is directly or indirectly connected to the lifting arm 331, and the third drive device 53 is used to drive the lifting arm 331 to flip up and down relative to the lifting frame 32 and the bottom plate 10, so that the grasping structure 34 moves in a direction close to or away from the bottom plate 10.

[0062] The following describes the coordination relationship between different structures when the automatic retractable and conveying equipment is working:

[0063] The traverse frame 31 has a rearward position and a forward position, the lifting frame 32 has an upward position and a downward position, and the flip frame 33 has a horizontal position and a raised position. The storage device 30 has a pick-up state and a placement state. Figure 6 , Figure 7 The middle retractable device 30 is in a taking and placing state. Figure 1 , Figure 2 , Fig.11 The middle retractable device 30 is in a placed state.

[0064] When the storage device 30 is in the pick-up and placement state, it is used to grab the trash can 90 on the ground or put the trash can 90 on the ground. At this time, the lateral frame 31 is in the forward position, the flip frame 33 is in the flat position, and the flip frame 33 extends forward relative to the bottom plate 10, so that the grabbing structure 34 can grab the trash can 90 or put the trash can 90 down. When the storage device 30 is in the placement state, the automatic storage and transportation equipment loads the trash can 90, the lateral frame 31 is in the backward position, the lifting frame 32 is in the lowered position, and the flip frame 33 is in the raised position. At this time, the grabbing structure 34 places the trash can 90 in the placement area 101 of the bottom plate 10.

[0065] Figure 1 , Figures 3 to 11 The following are schematic diagrams showing some steps in which the automatic retractable and conveying device grabs the trash can 90. When performing the grabbing operation, the sequence of steps shown in the figures is as follows: Figure 3 Indicate the steps, Figure 4 , Figure 5 Indicate the steps, Figures 6 to 9 Indicate the steps, Fig.10 Indicate the steps, Fig.11 , Figure 1 Illustrated steps.

[0066] Next, taking the grabbing structure 34 as a grabbing hook with an opening on the top as an example, the method of grabbing, transporting and placing the trash can 90 by the automatic retractable and conveying device is described in detail:

[0067] It includes a grabbing step S100, a transporting step S200 and a putting down step S300.

[0068] The crawling step S100 includes the following contents:

[0069] S101: Figure 4 As shown, the automatic retractable conveying device is driven to the grabbing position by the moving device 20. At this time, the automatic retractable conveying device is located behind the trash can 90;

[0070] S102: Figure 6As shown, the third driving device 53 drives the lifting arm 331 to flip to the horizontal position so that the flip frame 33 flips to the flat position, the second driving device 52 drives the lifting frame 32 to move downward to the lowered position, and the first driving device drives the transverse frame 31 to move forward to the forward position so that the grabbing hook moves to the bottom of the handle 92 of the trash can 90. At this time, the retracting device 30 is in the picking and placing state;

[0071] S103: The second driving device 52 drives the lifting frame 32 to move upward, the flip frame 33 moves upward as a whole, the grabbing hook hooks the handle 92 of the trash can 90, and the lifting frame 32 continues to move upward to the highest point. At this time, the trash can 90 is initially lifted off the ground, and the trash can 90 is grabbed;

[0072] S104: Figure 8 , Fig. 9 As shown, the third driving device 53 drives the lifting arm 331 to flip upward to the highest point. In other words, the third driving device 53 drives the lifting arm 331 to rotate in a direction away from the bottom plate 10, as shown in FIG. Fig.10 As shown, the flip frame 33 is turned from the flat position to the raised position, at which time the trash can 90 is lifted above the plane where the bottom plate 10 is located;

[0073] S105: the first driving device drives the transverse frame 31 to move backward. When the transverse frame 31 moves backward to the backward position, the trash can 90 is located directly above the placement area 101 of the bottom plate 10 (this step is not shown in the figure);

[0074] S106: Fig.11 As shown, the second driving device 52 drives the lifting frame 32 to descend until the trash can 90 is placed in the placement area 101 of the bottom plate 10, completing the placement of the trash can 90. At this time, the storage device 30 is in a placement state.

[0075] The transporting step S200 includes: the mobile device 20 moves from the initial position to the target position to transport the trash can 90 from the initial position to the target position (this step is not shown in the figure).

[0076] The process of putting down step S300 is similar to that of grabbing step S100, but the order of actions is reversed; after the automatic retractable conveying equipment delivers the trash can 90 to the target location, the trash can 90 is lifted from the bottom plate 10 and lowered to the ground, completing the transfer of the trash can 90 and realizing unmanned garbage collection.

[0077] It should be noted that, in other embodiments, based on the structure of the automatic retractable and conveying system of the present invention, some operation steps in the grabbing step may also be implemented in other ways.

[0078] The automatic storage and delivery equipment of the present invention can automatically grab, deliver, and put down the trash can 90, realize unmanned transfer of the trash can 90 from the initial position to the target recycling position, and realize unmanned garbage collection. Compared with the existing garbage recycling method that requires manual lifting of the trash can 90, it can reduce labor intensity, avoid manual intervention, and realize unmanned operation.

[0079] The large amount of garbage in the garbage bin 90 is prone to breed bacteria. Using the automatic collection and release device of the present invention to recycle the garbage bin 90 can reduce the contact between garbage recycling workers and the garbage bin 90, reduce the risk of workers being infected with germs, and protect the health of workers. The automatic collection and release transportation device of the present invention is used in hospitals or in isolation hotels specially used to isolate potential virus carriers during an outbreak of infectious diseases, which can reduce the contact between garbage recycling workers and patients and reduce the risk of infection.

[0080] The automatic retractable and conveying device of the present invention grabs the trash can 90 from the front side of the device when grabbing the trash can 90. The grabbing work of the trash can 90 requires little overall width of the site, which is conducive to working in narrow aisles. Moreover, after grabbing the trash can 90, the trash can 90 can be directly placed on the bottom plate 10 of the device, and the moving device 20 can drive the device to move without the need for an additional raising device. It is easy to use and low in cost.

[0081] The automatic retractable conveying device includes a controller (not shown), the mobile device 20, the first drive device, the second drive device 52, and the third drive device 53 are respectively connected to the controller, the controller is used to control the start and stop of the first drive device, the second drive device 52, and the third drive device 53, and the controller is used to control the start and stop, driving direction, driving speed, etc. of the mobile device 20. The controller can be, but is not limited to, a PLC controller.

[0082] Please continue to refer to Figures 1 to 3 , Figure 6 , Fig.11 In order to realize the automatic positioning of the trash can 90 by the automatic storage and delivery equipment and reduce the manual intervention in the process of grabbing the trash can 90, the automatic storage and delivery equipment also includes a laser radar 60, which is used to detect and locate the position information of the trash can 90. The laser radar 60 is connected to the controller through wireless communication or wired electrical connection. The controller is used to receive the position information detected by the laser radar 60. The controller can control the movement of the mobile device 20 according to the position information of the trash can 90, so that the automatic storage and delivery equipment moves to the back of the trash can 90. Correspondingly, in order to facilitate the laser radar 60 to quickly locate the trash can 90, a reflective device is set on one or more sides of the left side, right side, and rear side of the barrel body 91 of the trash can 90, and the reflective device is used to reflect the laser beam emitted by the laser radar 60.

[0083] like Figure 3 As shown, in step S101 of the grabbing step S100, the automatic retractable transport device first moves to the vicinity of the trash can 90 through the mobile device 20 under the control of the controller according to the preset position information of the trash can 90 and according to the indoor navigation; after approaching the trash can 90, the laser radar 60 on the right side of the automatic retractable transport device is scanned by the laser radar 60 to locate and navigate the position of the trash can 90, and the controller controls the mobile device 20 to travel to the back of the trash can 90 (such as the back of the trash can 90) according to the position of the trash can 90 scanned by the laser radar 60. Figure 4 As shown), at this time, the automatic retractable and conveying equipment moves to the grabbing position.

[0084] In this embodiment, the reflective device (not shown) is a reflective strip pasted on the right side of the trash can 90. The reflective strip is used as the reflective device, which is easy to purchase, low in cost, and convenient and flexible to adjust the setting position of the reflective device. The laser radar 60 is set on the right side of the automatic retractable conveying device. In this way, the automatic retractable conveying device can navigate and move initially to the right rear of the mobile device. Through the cooperation of the laser radar 60 on the right side and the reflective strip on the right side of the trash can 90, the laser radar 60 can improve the accuracy of locating the more specific position of the trash can 90, so that the automatic retractable conveying device can more accurately drive to the rear of the trash can 90. Through the setting of the laser radar 60 and the reflective device, the difficulty of adjusting the position between the automatic retractable conveying device and the trash can 90 can be reduced, and the accuracy of grabbing the trash can 90 can be improved.

[0085] In other embodiments, the reflective device may be a mirror, or a reflective film provided on the side of the trash can 90 by coating, pasting, etc. The reflective device may also be implemented by other means.

[0086] A laser radar 60 is used as a position sensor for sensing the position of the trash can 90. Compared with the use of visual, ultrasonic, infrared and other sensors, the laser radar 60 has the advantages of high measurement accuracy, fast response speed, and strong anti-interference ability. In addition, the laser radar 60 cooperates with the reflective device on the side of the trash can 90 to realize the grasping navigation of the automatic storage and transportation equipment, which can further improve the reliability of the automatic storage and transportation equipment in automatically grasping the trash can 90.

[0087] Figure 1 , Figure 6The mobile device 20 is shown in the figure, and the mobile device 20 is omitted in other figures for simplicity. In this embodiment, the mobile device 20 is an AGV, which is an Automated Guided Vehicle, also known as an unmanned transport vehicle. It is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, which can travel along a specified navigation path and has safety protection and various transfer functions. The AGV can use a rechargeable battery as its power source. The AGV can generally control its travel path and behavior through a controller, or use an electromagnetic track attached to the floor to establish its travel path. Figure 1 As shown, the AGV includes a driving body and a main machine, the driving body is arranged below the bottom plate 10, and the main machine is arranged on the left side of the bottom plate. The AGV is directly used as a power source to drive the entire automatic storage and transportation equipment to move, which is more efficient and simpler in structure. In addition, a part or the whole of the AGV is arranged below the bottom plate 10, which can directly lift the bottom plate 10 off the ground. After the trash can 90 is moved to the top of the bottom plate 10 by the storage device 30, the trash can 90 can be lifted off the ground, which is convenient and efficient in transporting the trash can 90.

[0088] In other embodiments, the mobile device 20 may also be other types of unmanned vehicles or robots with a power source and a controller.

[0089] Please continue to refer to Figure 1 , Figure 5 , Fig.11 The automatic storage and delivery equipment includes support legs and running wheels (the support legs and running wheels are not marked in the figure, but the support legs and running wheels are shown in the figure). The support legs are arranged under the bottom plate 10 and connected to the bottom plate 10. The running wheels are rollers, which are installed on the support legs. When the mobile device 20 is traveling, the rollers contact the ground and rotate. By setting the support legs and running wheels, the weight carried by the mobile device 20 can be shared. In this embodiment, support legs and running wheels are respectively arranged at the four corners of the bottom plate 10 to effectively carry and disperse the weight of the trash can 90, and ensure the stability of the grabbing or putting down action of the trash can 90 during the operation of the storage and delivery device 30.

[0090] like Figures 3 to 12As shown, in order to realize the lifting of the standard trash can 90 by the storage device 30, the standard trash can 90 includes a barrel body 91 and a grabbing and matching part arranged at the rear side of the barrel body 91. In this embodiment, the grabbing structure 34 is a grabbing hook, and the grabbing hook has a groove 341 with an opening facing upward. Correspondingly, the grabbing and matching part of the standard trash can 90 is a handle 92. When the automatic storage and transportation device grabs the standard trash can 90, the grabbing hook is first moved to the bottom of the handle 92, and then the grabbing hook moves upward, and the handle 92 is stuck in the groove 341 of the grabbing hook. The grabbing hook hooks the handle 92, and the weight of the trash can 90 acts on the grabbing hook through the handle 92. Among them, when the grabbing hook hooks the handle 92, the grabbing hook restricts the handle 92 from moving forward, backward, downward, left and right relative to the grabbing hook, and the trash can 90 can only be separated from the grabbing hook by moving upward relative to the grabbing hook. The weight of the trash can 90 acts on the grabbing hook through the handle 92, and when the folding and releasing device 30 lifts and puts down the trash can 90, the opening of the groove 341 of the grabbing hook remains upward, which can ensure that the handle 92 is reliably buckled on the grabbing hook, and the standard trash can 90 is stably lifted and put down through the folding and releasing device 30, avoiding the trash can 90 from shaking left and right or shaking back and forth when lifting and putting down the standard trash can 90, thereby preventing the trash can 90 from being separated from the grabbing structure 34.

[0091] In other embodiments, the grasping structure 34 may also be a clamping claw that can be opened and closed.

[0092] In other embodiments, the method of grabbing the trash can 90 is not limited to the method of hooking the handle 92, and the grabbing and placing of the trash can 90 by the grabbing structure 34 of the retractable device 30 can also be achieved by any of the following methods:

[0093] Another way to grab the trash can 90 is: the grabbing structure 34 is a protruding block, and the grabbing matching part of the standard trash can 90 can be a protruding edge relative to the barrel body 91. The grabbing structure 34 supports the protruding edge of the standard trash can 90 to achieve the upward lifting and downward lowering of the trash can 90.

[0094] Another way to grab the trash can 90 is to use a suction cup as the grabbing structure 34, and the grabbing matching part of the standard trash can 90 is the side of the barrel body 91. The suction cup absorbs any one or more sides of the left side, right side, and rear side of the trash can 90, so that the trash can 90 can be lifted up and put down through the folding device 30.

[0095] Another way to grab the trash can 90 is: the grabbing structure 34 is a clamping claw that can be opened and closed, and a grabbing matching part is set on one side or two opposite sides of the trash can 90. The grabbing matching part can be a protrusion or a handle 92, etc. The grabbing matching part is clamped by the clamping claw to realize the upward lifting and downward lowering of the trash can 90 through the retracting device 30.

[0096] Please continue to refer to Figures 1 to 13 In order to achieve accurate grabbing of the trash can 90 by the grabbing structure 34 when grabbing the trash can 90, the automatic retractable conveying device further includes at least two guide members 35, the guide members 35 are used to guide the target object to approach the main frame 332, and the two guide members 35 are arranged at intervals along the x-axis direction. In this embodiment, the two guide members 35 are arranged at intervals in the left and right directions. One end of the guide member 35 is connected to the main frame 332, and the other end is a free end, and a clamping space 301 is formed between the two guide members 35.

[0097] The guide member 35 is inclined from one end close to the main frame 332 to one end away from the main frame 332 in a direction away from the clamping space 301. In other words, the two guide members 35 are inclined from one end close to the main frame 332 to one end away from the main frame 332 in a direction away from each other. In the grasping step S102, the trash can 90 is inserted between the two guide members 35 by the two guide members 35 arranged on the left and right, so that the positioning guidance of the position of the trash can 90 can be achieved, so that the grasping structure 34 can more easily and accurately grasp the trash can 90. The guidance of the position of the trash can 90 is achieved by a pure structure, which is simple in structure and low in cost.

[0098] like Figures 4 to 9 As shown, in step S102 of the grabbing step S100, after the flip frame 33 flips to the flat position, the first driving device drives the transverse frame 31 to move forward. During this process, the two guide members 35 contact the two sides of the trash can 90, and the trash can 90 is inserted into the clamping space 301 between the two guide members 35. The two guide members 35 initially correct the direction of the trash can 90 so that the handle 92 is located directly below the grab hook, ensuring that the grab hook can hook the handle 92 when the lifting frame 32 moves upward. It should be noted that after the trash can 90 is inserted into the clamping space 301 between the two guide members 35, the guide members 35 contact the trash can 90, and the guide members 35 on both sides also play a certain role in clamping and fixing the trash can 90.

[0099] In other embodiments, four or more guide members 35 may also be provided, as long as the preliminary correction of the trash can 90 can be achieved through the cooperation of the guide members 35 on the left and right sides.

[0100] Please continue to refer to Figure 7 The grabbing structure 34 and the guide member 35 are spaced apart in the z-axis direction of the automatic retractable and conveying equipment. In this embodiment, the grabbing structure 34 is arranged above the guide member 35, and the position of the trash can 90 is guided by the lower guide member 35, and the trash can 90 is grabbed by the upper grabbing structure 34. The grabbing structure 34 and the guide member 35 can cooperate well to realize the accurate grabbing of the trash can 90.

[0101] Please continue to refer to Fig. 9 , Fig.12In this embodiment, the guide member 35 adopts the following structural design:

[0102] The guide member 35 includes a guide rod 351 and a plurality of guide wheels 352; one end of the guide rod 351 is connected to the main frame 332, and the other end is a free end; the guide wheel 352 is rotatably mounted on the guide rod 351 through a rotating shaft, and the guide wheel 352 protrudes relative to the inner side of the guide rod 351. The plurality of guide wheels 352 are arranged at intervals along the length direction of the guide rod 351. Each guide member 35 is provided with three guide wheels 352. In other embodiments, the number of guide wheels 352 provided on each guide member 35 can also be one, two, four, five, etc. When grabbing the trash can 90, the transverse frame 31 moves forward, and the two guide members 35 are respectively stuck on both sides of the trash can 90, and the guide wheels 352 contact the trash can 90. When the transverse frame 31 continues to move forward, the guide wheels 352 rotate to bring the trash can 90 closer to the main frame 332 faster, so as to achieve rapid correction of the trash can 90.

[0103] Compared with the guide member 35 which only includes the guide rod 351, the guide member 35 of this embodiment is provided with a plurality of guide wheels 352 on the guide rod 351, and the plurality of guide wheels 352 are arranged along the length direction of the guide rod 351. Through the cooperation of the guide members 35 on both sides, it is easier to quickly align the position of the handle 92 with the position of the grasping structure 34 during the forward movement of the transverse frame 31, so that the grasping structure 34 can accurately grasp the trash can 90 in the subsequent steps.

[0104] Please continue to refer to Fig.12 In this embodiment, the spacing between the two guide members 35 is also configured to be adjustable, and the guide member 35 further includes a guide mounting plate 353. The guide member 35 and the guide mounting plate 353 are fixedly connected by welding, integral molding, etc., and the guide mounting plate 353 is detachably mounted on the main frame 332 by fastener installation or snap-on installation. The guide mounting plate 353 is provided with a plurality of mounting holes, and the main frame 332 is provided with a mounting hole. When the different mounting holes on the guide mounting plate 353 are aligned with the mounting holes on the main frame 332, the installation position of the guide mounting plate 353 can be adjusted, thereby adjusting the spacing between the two guide members 35, so as to fine-tune the guide function and better match the width of the trash can 90.

[0105] Please continue to refer to Figures 5 to 13 In order to control the moving stroke of the transverse frame 31 during the forward movement of the transverse frame 31, one or more travel switches 36 are set on the main frame body 332. The travel switch 36 is installed on the main frame body 332, and the travel switch 36 is set between the two guide members 35.

[0106] In step S102 of the grabbing step S100, the controller controls the first driving device to drive the transverse frame 31 to move forward. During the forward movement, the guide member 35 initially corrects the direction of the trash can 90. When the rear side of the trash can 90 touches the travel switch 36, the travel switch 36 senses an in-position signal. After receiving the in-position signal from the travel switch 36, the controller controls the first driving device to stop running, and the transverse frame 31 stops moving forward.

[0107] In step S102, when the trash can 90 touches the limit switch 36, the handle 92 is located directly above the grabbing structure 34, and the transverse frame 31 stops moving forward. Then in step S103, the second drive device 52 works to drive the lifting frame 32 to rise. Due to the guiding effect of the guide member 35 in step S102 and the positioning effect of the limit switch 36, the grabbing structure 34 can hook the handle 92 during the upward movement of the lifting frame 32.

[0108] The travel switch 36 is a type of position switch (also called a limit switch) and is a commonly used low-current master electrical appliance. The collision of the moving parts of the production machinery is used to cause the contact to move to connect or disconnect the control circuit to achieve the control purpose. In this embodiment, the travel switch 36 is a roller travel switch. The roller travel switch of this embodiment is a double roller travel switch or a three roller travel switch. The double roller travel switch is also called a double wheel rotary travel switch or a horn travel switch.

[0109] The roller-type travel switch overcomes the shortcomings of the direct-acting travel switch. The on-and-off speed of the contacts is not affected by the speed of the moving parts and the action is fast. It can improve the accuracy of the forward movement control of the transverse frame 31, so as to improve the vertical alignment of the handle 92 and the grabbing structure 34, and ensure that when the lifting frame 32 rises subsequently, the grabbing structure 34 can accurately hook the handle 92.

[0110] In the height direction (z-axis direction) of the automatic storage and delivery device, the gripping structure 34, the guide member 35 and the travel switch 36 are distributed in sequence. When the pick-up and delivery device grabs the trash can 90, the gripping structure 34 and the travel switch 36 are at the rear side of the trash can 90, and the guide member 35 is at the left and right sides of the trash can 90.

[0111] Please continue to refer to Figures 5 to 12 The flip frame 33 includes at least two upper lifting arms 3311 and at least two lower lifting arms 3312, and the lower lifting arms 3312 are closer to the bottom plate 10 than the upper lifting arms 3311. In this embodiment, the flip frame 33 includes four lifting arms 331, two of which are upper lifting arms 3311 and two of which are lower lifting arms 3312.

[0112] In order to facilitate the third driving device 53 to drive the lifting arm 331 to flip, the flip frame 33 also includes a connecting arm 3313, which is arranged between the two upper lifting arms 3311, and the two ends of the connecting arm 3313 are respectively connected to the two upper lifting arms 3311. Figure 2 , Fig.12 , Fig.13 As shown, the driving end of the third driving device 53 is connected to the connecting arm 3313. The third driving device 53 pushes or pulls the connecting arm 3313 to realize the rotation of the flip frame 33, so as to realize the lifting or lowering of the garbage can 90.

[0113] like Figure 2 , Figure 12 to Figure 14 As shown, the third driving device 53 is a linear driving mechanism, and the third driving device 53 includes a third driving body 531 and a third driving part 532 connected to the third driving body 531. The third driving body 531 is hinged to the lifting frame 32, and the third driving part 532 is hinged to the connecting arm 3313. The third driving device 53 is arranged below the upper lifting arm 3311. The third driving device 53 is used to push the connecting arm 3313 upwards so that the upper lifting arm 3311 rotates in a direction away from the bottom plate 10, thereby driving the main frame 332 to move upwards, and then driving the grabbing structure 34 and the trash can 90 on the grabbing structure 34 to move upwards. The third driving device 53 is also used to pull the connecting arm 3313 downwards so that the upper lifting arm 3311 rotates in a direction close to the bottom plate 10, thereby driving the main frame 332 to move downwards, and then driving the grabbing structure 34 and the trash can 90 on the grabbing structure 34 to move downwards.

[0114] In some embodiments, the third driving device 53 is an electric push rod, and the third driving part 532 is a retractable push rod body. In other embodiments, the third driving device 53 is a cylinder, the third driving body 531 is a cylinder body, and the third driving part 532 is a retractable piston rod.

[0115] In other embodiments, the number of the lifting arms 331 in the lifting frame 32 may also be two, three, five, etc.

[0116] On the basis that the turning frame 33 includes an upper lifting arm 3311 and a lower lifting arm 3312, in order to keep the direction of the grab hook unchanged and only change the height of the grab hook during the turning process of the lifting arm 331 of the turning frame 33, so that the trash can 90 always remains in a vertical state during the process of the turning frame 33 lifting up or lowering down the trash can 90, and avoid the trash can 90 tilting and causing the trash to fall and pollute the environment, the turning frame 33 is set in the following manner:

[0117] During the turning process of the turning frame 33, the plurality of lifting arms 331 of the turning frame 33 remain parallel to each other. In this embodiment, the turning frame 33 has a flat position and a raised position. Figure 6 , Figure 7 As shown, when the flip frame 33 is in the flat position, it is used to grab the trash can 90 from the ground or to put the trash can 90 down to the ground. Fig.10 , Fig.11 As shown, when the turning frame 33 is in the raised position, the trash can 90 is lifted to above the plane where the bottom plate 10 is located.

[0118] In this embodiment, when the flip frame 33 is in the flat position, the upper lifting arm 3311 and the lower lifting arm 3312 are parallel to the bottom plate 10; when the flip frame 33 is in the raised position, the upper lifting arm 3311 and the lower lifting arm 3312 are perpendicular to the bottom plate 10. When the flip frame 33 is in the flat position, or in the raised position, or when the flip frame 33 is adjusted between the flat position and the raised position, the upper lifting arm 3311 remains parallel to the lower lifting arm 3312. On the basis that the upper lifting arm 3311 and the lower lifting arm 3312 are always kept parallel, it can be achieved that during the flipping of the lifting arm 331, the angle of the main frame body 332 relative to the bottom plate 10 does not change, and only the height of the main frame body 332 is adjusted, thereby achieving that the angle of the grabbing structure 34 and the trash can 90 relative to the bottom plate 10 does not change, and only the height changes.

[0119] In order to adjust the height of the trash can 90 grasped by the grasping structure 34 by turning the turning frame 33, the turning frame 33 is configured as follows:

[0120] The lifting frame 32 includes a lifting top rod 321, a lifting side rod 322 and a lifting cross rod 323. The lifting side rod 322 is connected to the lifting top rod 321, and the lifting cross rod 323 is connected to the lifting side rod 322. The lifting side rod 322 is arranged below the lifting top rod 321, and the lifting cross rod 323 is arranged on the front side of the lifting side rod 322. The lifting cross rod 323 protrudes forward relative to the lifting side rod 322.

[0121] The main frame 332 includes a frame structure and a frame cross bar 3324; the frame structure includes an upper frame 3321, a side frame 3322 and a lower frame 3323; one end of the side frame 3322 is connected to the upper frame 3321, and the other end is connected to the lower frame 3323; the frame cross bar 3324 is arranged at the front side of the frame structure, and the frame cross bar 3324 is located below the upper frame 3321 and protrudes forward relative to the frame structure. In this embodiment, the frame cross bar 3324 is connected to the side frame 3322. In other embodiments, the frame cross bar 3324 can also be connected to the lower frame 3323. The upper lifting arm 3311 is hinged to the lifting top rod 321 through the first rotating shaft 371, and the upper lifting arm 3311 is hinged to the upper frame 3321 through the second rotating shaft 372. The lower lifting arm 3312 is hinged to the lifting cross bar 323 through the third rotating shaft 373, and the lower lifting arm 3312 is hinged to the frame cross bar 3324 through the fourth rotating shaft 374. Figure 6 , Figure 7 As shown, when the flip frame 33 is in the flat position, the third rotation axis 373 is located in front of the first rotation axis 371, and the fourth rotation axis 374 is located in front of the second rotation axis 372. The upper lifting arm 3311 and the lower lifting arm 3312 are the same length, but the lower lifting arm 3312 is closer to the front of the upper lifting arm 3311. In this way, the frame structure can be tilted relative to the base plate 10 so that the upper frame 3321 is located on the rear side of the lower frame 3323.

[0122] In this embodiment, the grabbing structure 34 is a grabbing hook, which is arranged on the upper frame 3321, the guide member 35 is arranged on the lower frame 3323, the travel switch 36 is arranged on the lower frame 3323, and the two travel switches 36 are located between the two guide members 35. Figures 6 to 11 As shown, when the flip frame 33 is in the flat position, in the raised position, and flipped between the flat position and the raised position, the main frame body 332 can always be kept tilted backward, the grabbing structure 34 is located on the rear side of the guide member 35, and the grabbing structure 34 is located on the rear side of the travel switch 36, so that when grabbing the trash can 90, lifting the trash can 90, putting the trash can 90 down, and placing the trash can 90 on the bottom plate 10, the grabbing structure 34 can always be kept hooking the handle 92 of the trash can 90, keeping the trash can 90 clamped between the two guide members 35, and keeping the travel switch 36 on the rear side of the trash can 90. The guiding function of the guide member 35 for the trash can 90, the sensing function of the travel switch 36 for the movement of the transverse frame 31 into position, and the grasping and supporting function of the trash can 90 by the grasping structure 34 can be well realized. There will be no interference between the guide member 35, the travel switch 36 and the grasping structure 34, and the trash can 90 can be kept vertical during the process of lifting and lowering the trash can 90.

[0123] In other words, by setting the lifting cross bar 323 and the frame cross bar 3324, the lower lifting arm 3312 can be positioned forward relative to the upper lifting arm 3311, so that the main frame body 332 in the flip frame 33 remains tilted backward, and in the process of grabbing the trash can 90, the grabbing structure 34, the guide member 35 and the travel switch 36 can be well coordinated with the trash can 90.

[0124] In other embodiments, the two guide members 35 may also be installed on the two side frames 3322 respectively.

[0125] Please continue to refer to Figure 7 In the embodiment where the lifting frame 32 includes a lifting cross bar 323 and the main frame body 332 of the flip frame 33 includes a frame cross bar 3324, in order to achieve reliable and stable flipping of the lower lifting arm 3312 and to reliably bear the weight of the trash can 90 through the lower lifting arm 3312, a first reinforcing rod 324 is further provided on the lifting frame 32 and a second reinforcing rod 3325 is further provided on the main frame body 332 of the flip frame 33. Figure 7 , Fig. 9 , Fig.12 As shown, one end of the first reinforcing rod 324 is connected to the lifting side rod 322, and the other end is connected to the lifting cross bar 323, and a triangular structure is formed between the first reinforcing rod 324, the lifting side rod 322, and the lifting cross bar 323; one end of the second reinforcing rod 3325 is connected to the side frame 3322, and the other end is connected to the frame cross bar 3324, and a triangular structure is formed between the second reinforcing rod 3325, the side frame 3322, and the frame cross bar 3324. Such a configuration is equivalent to the main frame 332 being connected to the lower lifting arm 3312 through the triangular structure, and the lower lifting arm 3312 being connected to the lifting frame 32 through the triangular structure, and the triangular structure is more stable, the weight of the trash can 90 acts on the main frame 332, and the lower lifting arm 3312 can well support the main frame 332, and the lifting frame 32 can well support the lower lifting arm 3312, so that the entire storage device 30 can reliably carry the trash can 90, and improve the load-bearing capacity of the entire device.

[0126] Please continue to refer to Figure 2 , Figure 8 , Fig.12 The lifting frame 32 and the traverse frame 31 are connected in a sliding manner as follows: the traverse frame 31 includes a traverse vertical rod 311, the traverse vertical rod 311 extends along the z-axis direction of the automatic retractable conveying device, a lifting sliding device is provided between the lifting side rod 322 and the traverse vertical rod 311, and the lifting side rod 322 is slidably installed on the traverse vertical rod 311 through the lifting sliding device. In this embodiment, the lifting sliding device is a pulley and a slider.

[0127] The second driving device 52 is a linear driving mechanism, and the second driving device 52 can be an electric push rod, a telescopic cylinder, etc. In this embodiment, the second driving device 52 includes a second driving body and a second driving part, the second driving body is installed on the transverse frame 31, the second driving part is connected to the lifting top rod 321 of the lifting frame 32, and the second driving part is extended or retracted to realize the lifting frame 32 to rise or fall upward.

[0128] It should be noted that the second driving device 52 may also be other linear driving mechanisms.

[0129] Please continue to refer to Fig.12 , Fig.13 The third driving device 53 is a linear driving mechanism, and the third driving device 53 can be a linear motor, an electric push rod, a cylinder, etc. The third driving device 53 includes a third driving body 531 and a third driving part 532. The third driving body 531 is installed on the bottom plate 10, and the third driving part 532 is connected to the transverse frame 31. The third driving part 532 is used to drive the transverse frame 31 to move forward and backward relative to the bottom plate 10. In this embodiment, the transverse frame 31 is slidably installed on the bottom plate 10 through a slide rail and a slider, and a belt is also provided between the transverse frame 31 and the bottom plate 10.

[0130] Please continue to refer to Fig.14 The second driving device 52 and the third driving device 53 are arranged adjacent to each other, and the automatic storage and transportation device further includes a protective cover 70. The second driving device 52 and the third driving device 53 are arranged between the lifting frame 32 and the protective cover 70, and the protective cover 70 is connected to the lifting frame 32. A avoiding notch is arranged at the top of the protective cover 70, and the third driving part 532 of the third driving device 53 extends out from the avoiding opening to be connected to the connecting arm 3313 between the two upper lifting arms 3311.

[0131] The protective cover 70 not only serves to shield the driving device and enhance the aesthetics, but also when the trash can 90 is lifted by the turning frame 33 to the placement area 101 of the base plate 10, the protective cover 70 is located on the rear side of the trash can 90. The protective cover 70 also serves to limit the position of the trash can 90, so as to support the trash can 90 during the process of the automatic retractable and conveying equipment transporting the trash can 90, and prevent the trash can 90 from tipping over due to the shaking of the equipment.

[0132] Please continue to refer to Figure 1 , Figure 3 , Figure 4 , Figure 8 In order to strengthen the position limitation of the trash can 90, the automatic storage and delivery device further includes a limit plate 80. The limit plate 80 is connected to the bottom plate 10; the limit plate 80 protrudes relative to the bottom plate 10, and the limit plate 80 surrounds the placement area 101. The limit plate 80 is used to limit the movement of the trash can 90. Figure 1As shown, when the trash can 90 is placed on the bottom plate 10, the limiting plate 80 surrounds the outside of the trash can 90 to prevent the trash can 90 from tipping over.

[0133] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0134] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0135] In addition, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0136] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. An automatic retractable conveying device, It is characterized in that include: A bottom plate (10) has a top forming a placement area (101), wherein the placement area (101) provides a location for placing a trash can (90); A moving device (20) connected to the base plate (10); The folding and unfolding device (30) comprises a transverse frame (31), a lifting frame (32), a flip frame (33) and a grasping structure (34); the transverse frame (31) is slidably mounted on the bottom plate (10), and the lifting frame (32) is slidably mounted on the transverse frame (31); the flip frame (33) comprises a main frame body (332) and a plurality of lifting arms (331), wherein the lifting arms (331) are arranged between the lifting frame (32) and the main frame body (332), and one end of the lifting arms (331) is hinged to the lifting frame (32), and the other end is hinged to the main frame body (332); the grasping structure (34) is arranged on the main frame body (332), and the grasping structure (34) is used to grasp a target object; A driving assembly, comprising a first driving device, a second driving device (52) and a third driving device (53); the first driving device is used to drive the transverse frame (31) to move along the y-axis direction; the second driving device (52) is used to drive the lifting frame (32) to move along the z-axis direction; the third driving device (53) is used to drive the lifting arm (331) to flip relative to the lifting frame (32), so that the grasping structure (34) moves in a direction close to or away from the base plate (10); The retractable device (30) comprises two guide members (35) arranged at intervals, the automatic retractable conveying device comprises one or more travel switches (36); the plurality of lifting arms (331) comprises at least two upper lifting arms (3311) and at least two lower lifting arms (3312), and the flip frame (33) has a flat position and a raised position; The lifting frame (32) comprises a lifting top rod (321), a lifting side rod (322) and a lifting cross rod (323); the lifting side rod (322) is connected to the lifting top rod (321), and the lifting cross rod (323) is connected to the lifting side rod (322); the lifting side rod (322) is arranged on a side of the lifting top rod (321) close to the bottom plate (10), and the lifting cross rod (323) is arranged on the front side of the lifting side rod (322); The main frame (332) includes a frame structure and a frame cross bar (3324); the frame structure includes an upper frame (3321), a side frame (3322) and a lower frame (3323); one end of the side frame (3322) is connected to the upper frame (3321), and the other end is connected to the lower frame (3323); the frame cross bar (3324) is arranged on the front side of the frame structure; the frame cross bar (3324) is connected to the side frame (3322), or the frame cross bar (3324) is connected to the lower frame (3323).

2. The automatic storage and delivery equipment according to claim 1, It is characterized in that The moving device (20) is an AGV trolley, which is arranged below the base plate (10) and connected to the base plate (10); the AGV trolley is used to drive the retracting device (30) to move.

3. The automatic storage and delivery equipment according to claim 1, It is characterized in that One end of the guide member (35) is connected to the main frame (332), and the other end is a free end; a clamping space (301) is formed between the two guide members (35); The guide member (35) is inclined in a direction away from the clamping space (301) from an end close to the main frame (332) to an end away from the main frame (332); the guide member (35) is used to guide the target object to the main frame (332).

4. The automatic storage and delivery equipment according to claim 3, It is characterized in that The guide member (35) comprises a guide rod (351) and a plurality of guide wheels (352); one end of the guide rod (351) is connected to the main frame (332), and the other end is a free end; the guide wheel (352) is rotatably mounted on the guide rod (351), and the plurality of guide wheels (352) are arranged at intervals along the length direction of the guide rod (351).

5. The automatic storage and delivery equipment according to claim 3, It is characterized in that The travel switch (36) is installed on the main frame (332), and the travel switch (36) is arranged between the two guide members (35).

6. The automatic retractable conveying device according to any one of claims 1 to 5, It is characterized in that The plurality of lifting arms (331) include at least two upper lifting arms (3311) and at least two lower lifting arms (3312); the flip frame (33) includes a connecting arm (3313) provided between two adjacent upper lifting arms (3311), and two ends of the connecting arm (3313) are respectively connected to the upper lifting arms (3311) on both sides; The third driving device (53) is a linear driving mechanism, and the third driving device (53) includes a third driving body (531) and a third driving part (532) which are connected to each other. The third driving body (531) is hinged to the lifting frame (32), and the third driving part (532) is hinged to the connecting arm (3313); the third driving part (532) is used to push and pull the connecting arm (3313) so that the upper lifting arm (3311) rotates relative to the lifting frame (32).

7. The automatic retractable conveying device according to any one of claims 1 to 5, It is characterized in that When the flip frame (33) is located in the flat position, the upper lifting arm (3311) and the lower lifting arm (3312) are both parallel to the base plate (10); when the flip frame (33) is located in the raised position, the upper lifting arm (3311) and the lower lifting arm (3312) are both perpendicular to the base plate (10).

8. The automatic storage and delivery equipment according to claim 7, It is characterized in that The upper lifting arm (3311) is hinged to the lifting top rod (321) via a first rotating shaft (371), and the upper lifting arm (3311) is hinged to the upper frame (3321) via a second rotating shaft (372); the lower lifting arm (3312) is hinged to the lifting cross bar (323) via a third rotating shaft (373), and the lower lifting arm (3312) is hinged to the frame cross bar (3324) via a fourth rotating shaft (374); The grabbing structure (34) is arranged on the upper frame (3321), the guide member (35) is arranged on the side frame (3322) or the lower frame (3323), and the travel switch (36) is arranged on the lower frame (3323); when the flip frame (33) is located in the flat position, the third rotating shaft (373) is located in front of the first rotating shaft (371), and the fourth rotating shaft (374) is located in front of the second rotating shaft (372), the frame structure is inclined relative to the bottom plate (10), the lower frame (3323) is located in front of the upper frame (3321), and the grabbing structure (34) is located on the rear side of the guide member (35).

9. The automatic retractable conveying device according to any one of claims 1 to 5, It is characterized in that It comprises a limiting plate (80), the limiting plate (80) being connected to the bottom plate (10); the limiting plate (80) protrudes relative to the bottom plate (10), the limiting plate (80) encloses the placement area (101), and the limiting plate (80) is used to limit the movement of the trash can (90).

10. A garbage bin automatic storage and delivery system, It is characterized in that It comprises a trash can (90) and the automatic storage and delivery equipment as described in any one of claims 1 to 9; the trash can (90) comprises a grabbing and fitting portion, and the grabbing structure (34) grabs or releases the grabbing and fitting portion to grab or put down the trash can (90).

11. The automatic garbage bin storage and transportation system according to claim 10, It is characterized in that The automatic storage and delivery equipment comprises a laser radar (60), wherein the laser radar (60) is installed on the bottom plate (10) or the transverse frame (31), and the laser radar (60) is used to detect the position of the trash can (90); a reflective device is provided on one or more of the left side, right side, and rear side of the trash can (90), and the reflective device is used to reflect the laser beam emitted by the laser radar (60).

12. The automatic garbage bin storage and delivery system according to claim 10, It is characterized in that The grabbing structure (34) is a grabbing hook, and a groove (341) is arranged on the top of the grabbing hook; the trash can (90) comprises a barrel body (91), and the grabbing matching part is a handle (92) connected to the barrel body (91), and the handle (92) protrudes relative to the rear side of the barrel body (91); when the handle (92) is inserted into the groove (341) of the handle (92), the grabbing hook grabs the trash can (90) through the handle (92).

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