Automatic control system of garbage truck lifting and clamping mechanism and control method thereof

Abstract

The application provides an automatic control system of a garbage truck lifting clamping mechanism and a control method thereof, and comprises: a lifting mechanism, including two lifting swing arms and two lifting oil cylinders which are symmetrically arranged on the two sides of a corresponding compression type garbage truck and are arranged to rotate, and a turnover frame arranged between the rear ends of the two lifting swing arms, the two lifting oil cylinders are used to drive the two lifting swing arms to swing and lift, and the rear side of the turnover frame is used to hang a plurality of garbage cans; a clamping mechanism, including a clamping plate arranged on the top of the turnover frame and a clamping oil cylinder connected to the front side of the turnover frame and the front side of the clamping plate; and a detection assembly, including a first detection device arranged on the side wall of the compression type garbage truck and arranged on the rear side of the lifting swing arm turnover station, and a second detection device arranged on the side wall of the compression type garbage truck and arranged on the rear side of the first detection device. The starting of the clamping driving device in the clamping mechanism has double protection, the clamping mechanism has clamped the garbage can before the lifting turnover mechanism drives the garbage can to turn over, and the safety of the whole lifting clamping mechanism is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of compression garbage truck lifting mechanism, in particular to a garbage truck lifting clamping mechanism automatic control system and control method thereof. BACKGROUND

[0002] The lifting clamping mechanism of the compression garbage truck is used for lifting operation of the garbage can, in order to prevent the garbage can from falling during the process of overturning and dumping after being lifted vertically, a clamping mechanism is arranged on the lifting clamping mechanism to firmly fix the garbage can on the lifting clamping mechanism.

[0003] After the lifting clamping mechanism of the existing compression garbage truck is hung with the garbage can, the garbage can is usually clamped by the clamping mechanism after being lifted a distance upward by the lifting clamping mechanism, and then the garbage can is overturned and dumped. However, due to the risk of failure of the detection device, the clamping mechanism does not receive the start signal after the lifting clamping mechanism drives the garbage can to lift a distance upward, resulting in the garbage can directly overturning and falling, which causes great safety hazard. Therefore, a reliable lifting clamping mechanism automatic control system with failure protection function is extremely important for the garbage can lifting operation of the compression garbage truck.

[0004] In view of the problems existing in the prior art, a garbage truck lifting clamping mechanism automatic control system and control method thereof are designed, which is the research purpose of the present application. SUMMARY

[0005] The present application provides a garbage truck lifting clamping mechanism automatic control system and control method thereof, which can effectively solve the above problems.

[0006] The present application is implemented as follows:

[0007] A garbage truck lifting clamping mechanism automatic control system and control method thereof, comprising:

[0008] The lifting mechanism comprises two lifting swing arms and two lifting oil cylinders symmetrically arranged on both sides of the corresponding compression garbage truck, and a turnover frame arranged between the rear ends of the two lifting swing arms, the two lifting oil cylinders are used to drive the two lifting swing arms to swing and lift, and the rear side of the turnover frame is used to hang a plurality of garbage cans;

[0009] The clamping mechanism comprises a clamping plate rotatably arranged on the top of the turnover frame, and a clamping oil cylinder rotatably connected between the front side of the turnover frame and the front side of the clamping plate.

[0010] The detection assembly comprises a first detection device arranged on the side wall of the compression garbage truck and at the rear side of the lifting swing arm overturning station, and a second detection device arranged on the side wall of the compression garbage truck and at the rear side of the first detection device; when the second detection device detects the lifting swing arm, the second detection device starts timing and the lifting oil cylinder drives the lifting swing arm to swing and lift; when the lifting swing arm swings and lifts to be detected by the first detection device, the clamping oil cylinder drives the clamping plate to turn downward toward the rear side and press and clamp the garbage can, or when the second detection device finishes timing, the clamping oil cylinder drives the clamping plate to turn downward toward the rear side and press and clamp the garbage can.

[0011] As a further improvement, the clamping plate comprises a 7-shaped pressing plate with an opening facing the rear side, a connecting plate fixedly arranged on the front side of the pressing plate and extending upwardly and connected to the telescopic rod of the clamping oil cylinder, a toothed hook corresponding to the clamping plate is arranged on the upper rear side of the overturning frame, the open end of the garbage can is hung on the toothed hook, and a support is arranged on the lower rear side of the overturning frame; the telescopic rod of the clamping oil cylinder extends upwardly, drives the pressing plate to turn downward toward the rear side through the connecting plate, and press and clamps the open end of the garbage can.

[0012] As a further improvement, the lifting oil circuit system comprising a lifting multi-way valve is connected to the corresponding oil source, the clamping oil circuit system comprising a clamping multi-way valve is connected to the oil source, the lifting oil circuit system further comprises a first one-way throttle valve, a second one-way throttle valve and a lifting hydraulic lock, the rodless cavities of the two lifting oil cylinders are connected to the first one-way throttle valve and the lifting hydraulic lock in sequence, and then connected to the A1 oil port of the lifting multi-way valve, the rod cavities of the two lifting oil cylinders are connected to the second one-way throttle valve and the lifting hydraulic lock in sequence, and then connected to the B1 oil port of the lifting multi-way valve, the clamping oil circuit system further comprises a clamping hydraulic lock, a pressure switch and a pressure control valve, the rod cavity of the clamping oil cylinder is connected to the clamping hydraulic lock, and then connected to the A2 oil port of the clamping multi-way valve, the rodless cavity of the clamping oil cylinder is connected to the pressure switch and the clamping hydraulic lock in sequence, and then connected to the B2 oil port of the clamping multi-way valve, and the pressure control valve is connected to the A1 oil port of the lifting multi-way valve and the B2 oil port of the clamping multi-way valve.

[0013] As a further improvement, the clamping oil cylinder is vertically arranged in the middle of the front side of the turnover frame, and the upper end of the telescopic rod is transversely provided with a driving rod. The turnover frame is internally provided with a plurality of clamping assemblies arranged side by side in the transverse direction between the support plate and the hanging teeth. The clamping assembly comprises two clamping blocks arranged in transverse sliding, two connecting rods respectively rotatably connected to the opposite sides of the two clamping blocks, and a sliding seat arranged between the two connecting rods and rotatably connected to the two connecting rods at both ends. The sliding seat is connected to the driving rod. The proximal ends of the two connecting rods are higher than the distal ends. When the telescopic rod of the clamping oil cylinder is extended upward to drive the pressing plate to rotate towards the rear side and press and clamp the open end of the garbage can, the driving rod moves upward to drive the sliding seat to slide upward, and the two clamping blocks are driven by the connecting rods to slide towards each other and clamp on the side wall of the garbage can.

[0014] As a further improvement, the clamping assembly further comprises two mounting plates fixedly arranged in the turnover frame. A plurality of guide columns and two pressure relief rods are respectively arranged on the opposite sides of the two mounting plates and extend towards each other. The rear portions of the opposite sides of the two clamping blocks are respectively provided with suction cups. The clamping blocks are internally provided with pressure relief channels connected to the suction cups. The clamping blocks are transversely slidably sleeved on the guide columns on the same side. The proximal ends of the two pressure relief rods extend into the corresponding pressure relief channels to form sealing plugs adapted to the ends of the pressure relief channels away from the suction cups. When the connecting rods drive the two clamping blocks to slide towards each other to seal and fit the sealing plugs in the ends of the pressure relief channels away from the suction cups, the two suction cups are clamped and adsorbed on the side wall of the garbage can. When the two clamping blocks slide away from each other, the pressure relief channels are disconnected from the sealing plugs and connected to the outside, and the suction cups are relieved and separated from the side wall of the garbage can.

[0015] As a further improvement, the clamping assembly further comprises a guide rod vertically fixedly arranged in the bottom of the turnover frame. The bottom of the driving rod is fixedly provided with a plurality of sliding sleeves slidably sleeved on the outer sides of the guide rods of a plurality of clamping assemblies. The lower end of the sliding sleeve is connected to the sliding seat. The outer side of the lower part of the guide rod is sleeved with a spring connected to the bottom of the sliding seat and the bottom of the turnover frame.

[0016] As a further improvement, the lifting swing arm comprises a limiting rod rotatably arranged on the side wall of the compression garbage truck at the front end of the lifting oil cylinder, a lifting rod rotatably connected to the rear end of the limiting rod at the upper part of the front end of the lifting rod to form a lifting hinge point, and a lifting rod rotatably connected to the rear end of the lifting oil cylinder at the lower part of the front end of the lifting rod. The rear end of the lifting rod extends downward and is connected to the middle of the two sides of the turnover frame. The lifting oil cylinder drives the lifting rod to swing and lift around the lifting hinge point. The first detection device and the second detection device are both used to detect the swing and lifting position of the lifting rod.

[0017] As a further improvement, the middle part of the two sides of the turnover frame is provided with a rotating shaft, the rear end of the lifting rod is rotationally connected with the distal ends of the two rotating shafts to form a turnover hinge point, the lifting swing arm further comprises a fixed rod fixedly sleeved on the two rotating shafts, the upper end of the fixed rod is rearwardly inclined, and a transversely arranged pull rod is rotationally connected between the upper end of the fixed rod and the front end of the lifting rod.

[0018] A control method of an automatic control system of the lifting and clamping mechanism of the garbage truck, comprising the following steps:

[0019] S1, after the open end of the garbage can is hung on the turnover frame and the lifting switch is started, the detection signal of the second detection device is obtained, when the second detection device detects the lifting swing arm, it is judged that the lifting swing arm is in the low position, the second detection device starts timing and the lifting cylinder drives the lifting swing arm to swing and lift;

[0020] S2, when the lifting swing arm swings and lifts to be detected by the first detection device, it is judged that the lifting swing arm is in the high position, the clamping cylinder drives the clamping plate to rotate downward to the rear side to press and clamp the garbage can, or when the second detection device timing ends, the clamping cylinder drives the clamping plate to rotate downward to the rear side to press and clamp the garbage can;

[0021] S3, when the oil pressure between the rodless cavity of the clamping cylinder and the B2 oil port of the clamping multi-way valve cannot reach the pressure value of the pressure switch, it is judged that the clamping hydraulic lock has a leakage fault, the pressure control valve is opened, and the A1 oil port of the lifting multi-way valve and the B2 oil port of the clamping multi-way valve are connected;

[0022] S4, after the telescopic rod of the lifting cylinder continues to extend to drive the lifting swing arm to swing and lift to the turnover station, the garbage can is inclined and the open end is downward to start unloading;

[0023] S5, after the garbage can is unloaded, the lowering switch is started, the detection signal of the first detection device is obtained, when the first detection device detects the lifting swing arm, it is judged that the lifting swing arm is in the high position, and the lifting cylinder drives the lifting swing arm to swing and descend;

[0024] S6, when the lifting swing arm swings and descends to be detected by the second detection device, it is judged that the lifting mechanism is in the low position, and the clamping cylinder drives the clamping plate to rotate to the front side to completely release the open end of the garbage can.

[0025] The beneficial effects of the present application are:

[0026] 1. The automatic control system of the lifting and clamping mechanism of the garbage truck and the control method thereof provided by the application, wherein the first detection device is arranged on the side wall of the compression type garbage truck and behind the lifting swing arm overturning station, and the second detection device is arranged on the side wall of the compression type garbage truck and behind the first detection device, so that when the second detection device detects the lifting swing arm, the second detection device starts timing and the lifting oil cylinder drives the lifting swing arm to swing and lift, and when the lifting swing arm swings and lifts to be detected by the first detection device, the clamping oil cylinder drives the clamping plate to rotate downward and press and clamp the garbage can on the rear side. Alternatively, when the first detection device fails to detect, after the timing of the second detection device ends, the clamping oil cylinder directly drives the clamping plate to rotate downward and press and clamp the garbage can on the rear side. The addition of the first detection device and the second detection device ensures that the start of the clamping oil cylinder in the clamping mechanism has double protection, and even if one of the detection devices fails, the other detection device can also give a start signal to the clamping oil cylinder, thereby ensuring that the clamping mechanism clamps the garbage can before the lifting and overturning mechanism drives the garbage can to overturn, reducing the risk of the garbage can falling when it overturns, and improving the safety of the lifting and clamping mechanism as a whole.

[0027] 2. The automatic control system of the lifting and clamping mechanism of the garbage truck and the control method thereof provided by the application, wherein the lifting oil cylinder and the clamping oil cylinder are respectively connected to corresponding oil sources through a lifting oil circuit system including a lifting multi-way valve and a clamping oil circuit system including a clamping multi-way valve, and are connected to the A1 oil port of the lifting multi-way valve and the B2 oil port of the clamping multi-way valve through a pressure regulating control valve. When the clamping hydraulic lock leaks, the oil pressure in the clamping oil circuit system cannot reach the pressure value of the pressure switch, resulting in insufficient power of the clamping oil cylinder to clamp, the pressure regulating control valve is opened to supply oil from the lifting oil circuit system to the clamping oil circuit system, ensuring that the clamping oil cylinder has sufficient power to drive the clamping plate to clamp the garbage can, thereby avoiding the clamping mechanism from failing to clamp the garbage can due to leakage of the clamping hydraulic lock, causing the garbage can to fall and posing a safety hazard, and further improving the safety of the lifting and clamping mechanism.

[0028] 3. The automatic control system of the lifting and clamping mechanism of the garbage truck and the control method thereof provided by the application, wherein when the extension rod of the clamping oil cylinder extends upward and drives the pressing plate to rotate and press and clamp the open end of the garbage can on the rear side through the connecting plate, the driving rod moves upward to drive the sliding seat to slide upward, and the two clamping blocks are driven to slide toward each other and clamp on the side wall of the garbage can through the connecting rod. When the clamping plate is driven by the clamping oil cylinder to clamp the open end of the garbage can, the two clamping blocks can be synchronously clamped on the side wall of the garbage can through the driving rod, thereby improving the fixing strength of the overturning frame to the garbage can, reducing the tendency of the garbage can to tilt forward and slide downward, and reducing the pressure on the open end of the garbage can through the clamping effect of the two clamping blocks on the side wall of the garbage can, so as to avoid the open end from cracking and breaking due to long-term excessive pressure, thereby prolonging the service life of the garbage can, and avoiding the open end from breaking to cause the clamping mechanism to fail to clamp, thereby causing the garbage can to fall and posing a safety hazard.

[0029] 4. The automatic control system and control method of the lifting and clamping mechanism of a garbage truck provided by the present invention, when the connecting rod drives the two clamping blocks to slide toward each other until the sealing plug is sealed and plugged in the end of the pressure relief channel away from the suction cup, the two suction cups are clamped and adsorbed on the side wall of the garbage bin, thereby being adsorbed on the side wall of the garbage bin by the negative pressure clamping of the two suction cups, thereby enhancing the fixing strength of the two clamping blocks on the garbage bin, and the suction cup has a certain elasticity, which can avoid damage to the garbage bin during the clamping and fixing process; when the two clamping blocks slide in opposite directions, the pressure relief channel is separated from the sealing plug and connected to the outside world, and the suction cup is depressurized and separated from the side wall of the garbage bin, so that the suction cup can automatically and quickly separate from the side wall of the garbage bin, avoiding irreversible damage to its elasticity caused by mechanically pulling the suction cup for pressure relief, and also avoiding damage to its outer wall when the suction cup has a large negative pressure and is forcibly pulled out of the garbage bin by machinery, thereby extending the service life of the garbage bin and the suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 This is a schematic diagram of the three-dimensional structure of Example 1 provided by the present invention.

[0032] Figure 2 for Figure 1 Schematic diagram of the side structure.

[0033] Figure 3 for Figure 1 Schematic diagram of the cross-sectional structure of the middle turning frame.

[0034] Figure 4 This is a structural schematic diagram of the lifting oil circuit system and the clamping oil circuit system provided by the present invention, wherein the lifting multi-way valve is in the lifting position and the clamping multi-way valve is in the clamping position.

[0035] Figure 5 This is a structural schematic diagram of the lifting oil circuit system and the clamping oil circuit system provided by the present invention, wherein the lifting multi-way valve is in the descending position and the clamping multi-way valve is in the releasing position.

[0036] Figure 6 This is a schematic diagram of the rear structural view of the turning frame according to the second embodiment of the present invention.

[0037] Figure 7 for Figure 6 A local enlarged schematic diagram of point A in the middle.

[0038] Figure 8 Figure 2 is a schematic view of a front view of a partial structure of a turnover frame according to Embodiment Two of the present application. DETAILED DESCRIPTION

[0039] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0040] In the description of the present application, the terms "first", "second" are only used for descriptive purpose and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0041] Embodiment One

[0042] Referring to Figures 1-6 As shown in the drawings, an automatic control system of a garbage truck lifting and clamping mechanism and a control method thereof comprises:

[0043] A lifting mechanism 1 comprises two lifting swing arms 11 and two lifting oil cylinders 12 symmetrically arranged on both sides of a corresponding compression type garbage truck 8, and a turnover frame 13 arranged between the rear ends of the two lifting swing arms 11, the two lifting oil cylinders 12 are used to drive the two lifting swing arms 11 to swing and lift, and the rear side of the turnover frame 13 is used to hang a plurality of garbage cans 9;

[0044] A clamping mechanism 2 comprises a clamping plate 21 rotatably arranged on the top of the turnover frame 13, and a clamping oil cylinder 22 rotatably connected between the front side of the turnover frame 13 and the front side of the clamping plate 21;

[0045] The detection assembly 3 comprises a first detection device 31 arranged on the side wall of the compression garbage truck 8 and arranged at the rear side of the overturning station of the lifting swing arm 11, and a second detection device 32 arranged on the side wall of the compression garbage truck 8 and arranged at the rear side of the first detection device 31. Specifically, when the overturning station of the lifting swing arm 11 drives the garbage can 9 to overturn and unload, the position of the lifting swing arm 11 is determined, so that the lifting swing arm 11 passes through the detection of the second detection device 32 and the first detection device 31 in sequence before the garbage can 9 overturns and unloads, ensuring that the clamping cylinder 22 clamps before overturning. In the embodiment, the first detection device 31 and the second detection device 32 are proximity switches, and in other embodiments, they can also be other types of detection sensors.

[0046] When the second detection device 32 detects the lifting swing arm 11, the second detection device 32 starts timing and the lifting cylinder 12 drives the lifting swing arm 11 to swing and lift. When the lifting swing arm 11 swings and lifts to be detected by the first detection device 31, the clamping cylinder 22 drives the clamping plate 21 to rotate downward and press and clamp the garbage can 9 toward the rear side, or when the timing of the second detection device 32 ends, the clamping cylinder 22 drives the clamping plate 21 to rotate downward and press and clamp the garbage can 9 toward the rear side. Specifically, the time for the lifting swing arm 11 to swing and lift from the second detection device 32 to the first detection device 31 is set as T1, and the timing time of the second detection device 32 is set as T2, T2>T1. In order to avoid the detection signal feedback by the first detection device 31 and the detection signal feedback by the second detection device 32 being too close when the first detection device 31 normally works, T2 and T1 differ by 1s-5s, preferably T2-T1=3s.

[0047] A controller is in communication with the first detection device 31, the second detection device 32, the lifting driving device 12, and the clamping driving device 22.

[0048] The above structure is provided by the addition of the first detection device 31 and the second detection device 32, so that the start of the clamping cylinder 22 in the clamping mechanism 2 has double protection. Even if one of the detection devices fails, the other detection device can also give a start signal to the clamping cylinder 22, so as to ensure that the clamping mechanism 2 clamps the garbage can 9 before the lifting and overturning mechanism drives the garbage can 9 to overturn, thereby reducing the risk of the garbage can 99 falling when it overturns, and improving the safety of the lifting and clamping mechanism as a whole.

[0049] Specifically, the clamping plate 21 comprises a backward-opening 7-shaped pressing plate 211, a connecting plate 212 fixed to the front side of the pressing plate 211 and extending upwardly and obliquely, and connected to the telescopic rod of the clamping oil cylinder 22, the rear upper portion of the turnover frame 13 is provided with a hanging tooth 131 corresponding to the clamping plate 21, the open end of the garbage can 9 is hung on the hanging tooth 131, the lower rear side of the turnover frame 13 is provided with a support plate 132, the telescopic rod of the clamping oil cylinder 22 extends upwardly, drives the pressing plate 211 to rotate downwardly toward the rear side through the connecting plate 212, and presses and clamps the open end of the garbage can 9, so that the telescopic rod of the clamping oil cylinder 22 is extended upwardly and downwardly to realize the pressing and loosening of the open end of the garbage can 9, and the support plate 132 supports the garbage can 9 during the lifting and turnover of the turnover frame 13 driven by the lifting swing arm 11.

[0050] Specifically, the lifting oil circuit system 4 comprising a lifting multi-way valve 44 is connected to the corresponding oil source, the clamping oil circuit system 5 comprising a clamping multi-way valve 54 is connected to the oil source, the lifting multi-way valve 44 and the clamping multi-way valve 54 are respectively connected to the controller, so that the controller sends corresponding control signals to the lifting multi-way valve 44 and the clamping multi-way valve 54 after receiving the detection signals of the first detection device 31 and the second detection device 32, and the lifting multi-way valve 44 and the clamping multi-way valve 54 control the on-off between the oil inlet P and the oil return T of the oil source after receiving the corresponding control signals.

[0051] In order to further improve the safety and stability of the automatic control system, the lifting oil circuit system 4 further comprises a first one-way throttle valve 41, a second one-way throttle valve 42 and a lifting hydraulic lock 43, the rodless cavity of the two lifting oil cylinders 12 is connected to the A1 oil port of the lifting multi-way valve 44 in sequence through the first one-way throttle valve 41 and the lifting hydraulic lock 43, the rod cavity of the two lifting oil cylinders 12 is connected to the B1 oil port of the lifting multi-way valve 44 in sequence through the second one-way throttle valve 42 and the lifting hydraulic lock 43, the clamping oil circuit system 5 further comprises a clamping hydraulic lock 51, a pressure switch 52 and a pressure control valve 53, specifically, the pressure control valve 53 can be an electromagnetic valve, the rod cavity of the clamping oil cylinder 22 is connected to the A2 oil port of the clamping multi-way valve 54 through the clamping hydraulic lock 51, the rodless cavity of the clamping oil cylinder 22 is connected to the B2 oil port of the clamping multi-way valve 54 in sequence through the pressure switch 52 and the clamping hydraulic lock 51, and the pressure control valve 53 is connected to the A1 oil port of the lifting multi-way valve 44 and the B2 oil port of the clamping multi-way valve 54.

[0052] The structure is provided. When the clamping hydraulic lock 51 leaks, the oil pressure in the clamping oil circuit system 5 cannot reach the pressure value of the pressure switch 52, causing the clamping cylinder 22 to be insufficiently powered and unable to clamp. When the pressure control valve 53 is opened, the lifting oil circuit system 4 supplies oil to the clamping oil circuit system 5, ensuring that the clamping cylinder has enough power to drive the clamping plate 21 to clamp the garbage can, thereby avoiding the clamping mechanism 2 from being unable to clamp the garbage can due to the leakage of the clamping hydraulic lock 51, causing the garbage can to fall and causing safety hazards, and further improving the safety and stability of the lifting and clamping mechanism.

[0053] In order to improve the safety of the oil circuit, the lifting multi-way valve 44 and the clamping multi-way valve 54 are respectively connected to the oil source inlet P and the oil source return T. The inlet of the lifting multi-way valve 44 and the inlet of the clamping multi-way valve 54 are provided with an overflow valve 6 between the oil source inlet P.

[0054] In order to improve the stability of the lifting drive device 12 driving the lifting swing arm 11 to swing and lift, the lifting swing arm 11 includes a limiting rod 111 concentrically rotating at the front end of the lifting cylinder 12 and arranged on the side wall of the compression garbage truck 8, a lifting rod 112 rotatingly connected at the upper front end of the limiting rod 111 to form a lifting hinge point 14, the lower front end of the lifting rod 112 rotatingly connected to the rear end of the lifting cylinder 12, the rear end of the lifting rod 112 obliquely extending downward and connected to the middle of the two sides of the turnover frame 13, the lifting cylinder 12 driving the lifting rod 112 to swing and lift around the lifting hinge point 14, and the first detection device 31 and the second detection device 32 both detecting the swing and lift position of the lifting rod 112.

[0055] In order to improve the stability of the lifting drive device 12 driving the lifting swing arm 11 to swing and lift and driving the turnover frame 13 to turn over, the turnover frame 13 is provided with two rotating shafts 133 at the middle of the two sides, the rear end of the lifting rod 112 rotatingly connected to the distal ends of the two rotating shafts 133 to form a turnover hinge point 15, the lifting swing arm 11 further including a fixed rod 113 fixedly sleeved on the two rotating shafts 133, the upper end of the fixed rod 113 obliquely arranged rearward, a pull rod 114 transversely arranged rotatingly connected between the upper end of the fixed rod 113 and the front end of the lifting rod 112, and the pull rod 114 pulling the fixed rod 113 to make the turnover frame 13 turn over around the turnover hinge point 15 after the lifting rod 112 swings and lifts around the lifting hinge point 14.

[0056] A control method for an automatic control system of the garbage truck lifting and clamping mechanism, comprising the following steps:

[0057] S1, after the open end of the garbage can 9 is hung on the turnover frame 13 and the lifting switch is started, the detection signal of the second detection device 32 is obtained, when the second detection device 32 detects the lifting swing arm 11, it is judged that the lifting swing arm 11 is in the low position, the second detection device 32 starts timing and the lifting oil cylinder 12 drives the lifting swing arm 11 to swing and lift, at this time, the clamping multi-way valve 54 moves to the release position, the extension rod of the clamping oil cylinder 22 retracts downward to the state of completely releasing the clamping plate 21; Specifically, the lifting multi-way valve 44 moves to the lifting position, the extension rod of the lifting oil cylinder 12 extends to drive the lifting swing arm 11 to swing and lift; Specifically, the pressure oil of the oil source P port enters the rodless cavity of the lifting oil cylinder 12 and the rod cavity of the clamping oil cylinder 22 through the lifting multi-way valve 44 and the clamping multi-way valve 54 respectively, the pressure oil in the rod cavity of the lifting oil cylinder 12 and the rodless cavity of the clamping oil cylinder 22 returns to the oil source T port through the lifting multi-way valve 44 and the clamping multi-way valve 54 respectively;

[0058] S2, when the lifting swing arm 11 swings and lifts to be detected by the first detection device 31, it is judged that the lifting mechanism 1 is in the high position, the clamping oil cylinder 22 drives the clamping plate 21 to rotate downward toward the rear side to press and clamp the garbage can 9, or when the first detection device 31 fails to detect, after the timing of the second detection device 32 ends, the clamping oil cylinder 22 drives the clamping plate 21 to rotate downward toward the rear side to press and clamp the garbage can 9;

[0059] S3, when the oil pressure between the rodless cavity of the clamping oil cylinder 22 and the B2 oil port of the clamping multi-way valve 54 cannot reach the pressure value of the pressure switch 52, it is judged that the clamping hydraulic lock 51 has a leakage fault, the pressure control valve 53 is opened, and the A1 oil port of the lifting multi-way valve 44 and the B2 oil port of the clamping multi-way valve 54 are connected. Thus, when the clamping hydraulic lock 51 has a leakage fault and the oil pressure in the clamping oil circuit system 5 cannot reach the pressure value of the pressure switch 52, resulting in insufficient power of the clamping oil cylinder 22 to clamp, the pressure control valve 53 is opened to supply oil to the clamping oil circuit system 5 by the lifting oil circuit system 4, ensuring that the clamping oil cylinder has enough power to drive the clamping plate 21 to clamp the garbage can 9, thereby avoiding the safety hazard caused by the garbage can 9 falling due to the clamping mechanism 2 failing to clamp the garbage can 9 because of the leakage fault of the clamping hydraulic lock 51, and further improving the safety of the lifting and clamping mechanism.

[0060] S4, after the extension rod of the lifting oil cylinder 12 continues to extend to drive the lifting swing arm 11 to swing and lift to the turnover position, the garbage can 9 is inclined and the open end is downward to start unloading;

[0061] S5, the garbage can 9 unloading is completed after starting the lower switch, the detection signal of the first detection device 31 is obtained, when the first detection device 31 detects the lifting swing arm 11, it is judged that the lifting swing arm 11 is located in the high position, the lifting oil cylinder 12 drives the lifting swing arm 11 to swing down;

[0062] S6, when the lifting swing arm 11 swings down to be detected by the second detection device 32, it is judged that the lifting mechanism 1 is located in the low position, the clamping oil cylinder 22 drives the clamping plate 21 to rotate to the front side to completely release the opening end of the garbage can 9. Specifically, the clamping multi-way valve 54 moves to the release position, after the extension rod of the clamping oil cylinder 22 is completely released after retracting downward to the clamping plate 21, the clamping multi-way valve 54 moves to the clamping middle position, the extension rod of the clamping oil cylinder 22 keeps retracting state, so as to facilitate the staff to continue to hang the garbage can 9, specifically, the clamping multi-way valve 54 can be moved to the release position, and then the timing is started, and the clamping multi-way valve 54 is directly moved to the clamping middle position after the timing time t.

[0063] Further, after step S1 and before step S2, when the lifting swing arm 11 swings up to be not detected by the first detection device 31, it is judged that the lifting mechanism 1 is located in the middle position, the lifting multi-way valve 44 keeps the lifting position, and the clamping multi-way valve 54 moves to the clamping middle position. Thus, the subsequent clamping multi-way valve 54 can be switched to the clamping position, the control smoothness is improved, and the operation experience is improved.

[0064] Further, the clamping oil cylinder 22 drives the clamping plate 21 to rotate downward to the rear side to press and clamp the garbage can 9 in step S2 specifically includes: S21, the lifting multi-way valve 44 keeps the lifting position, the clamping multi-way valve 54 moves to the clamping position, the extension rod of the lifting oil cylinder 12 continues to extend to drive the lifting swing arm 11 to swing up, and the extension rod of the clamping oil cylinder 22 extends upward to drive the pressing plate 211 to rotate to the rear side to press and clamp the opening end of the garbage can 9 through the connecting plate 212, so as to ensure that the lifting and overturning mechanism drives the garbage can 9 to overturn after the clamping mechanism 2 clamps the garbage can 9.

[0065] Further, after step S5 and before step S6, when the lifting swing arm 11 swings down to be not detected by the second detection device 32, it is judged that the lifting mechanism 1 is located in the middle position, the lifting multi-way valve 44 keeps the lower position, and the clamping multi-way valve 54 moves to the clamping middle position. Thus, the subsequent clamping multi-way valve 54 can be switched to the release position, the control smoothness is improved, and the operation experience is improved.

[0066] Embodiment two

[0067] When the garbage can 9 is flipped by the turnover frame 13 to unload, in order to make the garbage in the garbage can 9 dump cleanly, the garbage can 9 is inclined as a whole and has a large inclination angle, and the garbage can 9 has a tendency to flip and slide forward, and the opening end is clamped downward between the hanging teeth 131 and the clamping plate 21, so that the weight of the garbage can 9 and the garbage contained therein are concentrated at the opening end of the garbage can 9. The existing garbage can 9 is generally made of plastic material, and in the process of long-term flipping and unloading, the opening end of the garbage can 9 is easily cracked and broken due to excessive pressure, thereby reducing the service life of the garbage can 9. At the same time, the cracking of the opening end will also cause the clamping mechanism 2 to lose clamping effect, causing the garbage can 9 to fall and causing safety hazards.

[0068] Therefore, referring to Figures 7-8 The difference between the embodiment and the first embodiment is that the clamping oil cylinder 22 is vertically arranged at the front middle part of the turnover frame 13 and the upper end is connected with a transversely arranged driving rod 221, the turnover frame 13 is provided with a plurality of clamping assemblies 6 arranged side by side along the transverse direction between the support plate 132 and the hanging teeth 131, the clamping assembly 6 includes two clamping blocks 61 arranged in the transverse direction, two connecting rods 62 respectively rotatably connected with the opposite sides of the two clamping blocks 61, and a sliding seat 63 arranged between the two connecting rods 62 and rotatably connected with the two connecting rods 62 at both ends, the sliding seat 63 is connected with the driving rod 221, the proximal ends of the two connecting rods 62 are higher than the distal ends, specifically, the two connecting rods 62 and the two clamping blocks are respectively arranged symmetrically on the left and right sides of the sliding seat 63, and the two connecting rods 62 are arranged in an eight-character shape. When the telescopic rod of the clamping oil cylinder 22 is extended upward to drive the pressing plate 211 to rotate and press and clamp the opening end of the garbage can 9 through the connecting plate 212, the driving rod 221 moves upward to drive the sliding seat 63 to slide upward, and the two clamping blocks 61 are driven by the connecting rods 62 to slide towards each other and clamp on the side wall of the garbage can 9.

[0069] The above structure can simultaneously drive the two clamping blocks 61 to clamp on the side wall of the garbage can 9 through the driving rod 211 when the lifting swing arm 11 is lifted to be detected by the first detection device 31, or when the clamping plate 21 clamps the opening end of the garbage can 9 through the clamping oil cylinder 22 after the second detection device 32 counts, that is, before the turnover frame 13 flips the garbage can 9 to unload, thereby improving the fixing strength of the turnover frame 13 to the garbage can 9, reducing the tendency of the garbage can 9 to flip and slide forward, and reducing the pressure on the opening end of the garbage can 9 through the clamping effect of the two clamping blocks 61 on the side wall of the garbage can 9, so as to avoid cracking and breaking of the opening end due to long-term excessive pressure, thereby prolonging the service life of the garbage can 9. At the same time, the cracking of the opening end avoids the clamping mechanism 2 losing clamping effect, causing the garbage can 9 to fall and causing safety hazards.

[0070] In order to improve the clamping strength of the clamping assembly 6, the clamping assembly 6 also includes two mounting plates 64 fixed in the flip frame 13, and the mounting plates 64 close to the left and right sides of the flip frame 12 are respectively embedded in the side frames of the flip frame 13. A plurality of guide posts 65 and two pressure relief rods 66 extending toward each other are respectively provided on the opposite sides of the two mounting plates 64. Suction cups 67 are respectively provided at the rear parts of the opposite sides of the two clamping blocks 61. A pressure relief channel 611 connecting the suction cups 67 is provided in the clamping block 61. The clamping block 61 is laterally slidably sleeved on the guide post 65 on the same side, and the proximal ends of the two pressure relief rods 66 extend into the corresponding pressure relief channels 611 to form a pressure relief channel 611 with the clamping block 61. The pressure relief channel 611 is adapted to have a sealing plug 661 at one end away from the suction cup 67. Specifically, the sealing plug 661 can be made of a highly sealing and elastic material such as rubber. When the connecting rod 62 drives the two clamping blocks 61 to slide toward each other until the sealing plug 661 is sealed and fitted into the pressure relief channel 61 at one end away from the suction cup 67, the two suction cups 67 are clamped and adsorbed on the side wall of the trash can 9. Thus, the two suction cups 67 are clamped and adsorbed on the side wall of the trash can 9 by the negative pressure of the two suction cups 67, thereby enhancing the fixing strength of the two clamping blocks 61 on the trash can 9. In addition, the suction cup 67 has a certain elasticity, which can avoid damage to the trash can 9 during the clamping and fixing process.

[0071] At the same time, through the arrangement of the pressure relief channel 611 and the pressure relief rod 66, when unloading is completed, the telescopic end of the clamping cylinder 22 moves downward to loosen the clamping plate 21, and the driving rod 211 drives the slide 62 downward, driving the two clamping blocks 61 to slide in opposite directions, and the pressure relief channel 61 is separated from the sealing plug 661 to communicate with the outside world, and the suction cup 67 is depressurized and separated from the side wall of the trash can 9, so that the suction cup 67 can automatically and quickly separate from the side wall of the trash can 9, avoiding irreversible damage to its elasticity caused by mechanically pulling the suction cup 67 for pressure relief, and also avoiding damage to the outer wall of the trash can 9 when the suction cup 67 is under a large negative pressure and is forcibly pulled out of the trash can 9 by mechanical means, thereby extending the service life of the trash can 9 and the suction cup 67;

[0072] Specifically, in this embodiment, the inner diameter of the pressure relief channel 611 gradually decreases in the direction away from the suction cup 67, and the sealing plug 661 is set to a cone shape that is adapted to the inner wall of the end of the pressure relief channel 611 away from the suction cup 67, so that in the process where the connecting rod 62 drives the two clamping blocks 61 to slide toward each other until the sealing plug 661 is sealed and plugged in the end of the pressure relief channel 611 away from the suction cup 67, it is guided by the side wall of the pressure relief channel 611, and at the same time, the sealing plug 661 and the pressure relief channel 611 can be sealed and fitted through the conical surface.

[0073] In order to improve the stability of the clamping assembly 6, the clamping assembly 6 further comprises a guide rod 68 vertically fixed to the inner bottom of the turnover frame 13, and the bottom of the driving rod 221 is fixed with a plurality of sliding sleeves 222 which are slidably sleeved outside the guide rods 68 of the clamping assemblies 6, and the lower end of the sliding sleeve 222 is connected with the sliding seat 63, so as to improve the stability of the sliding seat 63 driven by the driving rod 221 to slide up and down. The lower outer side of the guide rod 68 is sleeved with a spring 69 connected with the bottom of the sliding seat 63 and the inner bottom of the turnover frame 13, so as to buffer and limit the lifting of the sliding seat 63 through the spring 69, and further buffer and limit the sliding of the two clamping blocks 61 towards each other and away from each other, so as to avoid the mechanism from being stuck due to excessive displacement of the sliding seat 63 and the clamping blocks 61.

[0074] The control method of the automatic control system of the lifting and clamping mechanism of the garbage truck further comprises the following steps on the basis of the control method of the automatic control system of the lifting and clamping mechanism of the garbage truck in embodiment one:

[0075] The step S2 of driving the clamping cylinder 22 to drive the clamping plate 21 to rotate downwardly towards the rear side to press and clamp the garbage can 9 further comprises the following steps: S22, while the telescopic rod of the clamping cylinder 22 extends upwardly, the driving rod 221 moves upwardly to drive the sliding seat 63 to slide upwardly, so as to drive the two clamping blocks 61 to slide towards each other and clamp on the side wall of the garbage can 9 through the connecting rod 62;

[0076] The step S22 of driving the connecting rod 62 to drive the two clamping blocks 61 to slide towards each other and clamp on the side wall of the garbage can 9 specifically comprises the following steps: when the connecting rod 62 drives the two clamping blocks 61 to slide towards each other and clamp on the side wall of the garbage can 9, the sealing plug 661 is sealed and fitted in the one end of the pressure relief channel 611 away from the suction disc 67, and the two suction discs 67 are clamped and adsorbed on the side wall of the garbage can 9, so as to increase the fixing strength of the two clamping blocks 61 on the garbage can 9 through the negative pressure clamping and adsorption of the two suction discs 67 on the side wall of the garbage can 9, and the suction disc 67 has a certain elasticity, which can avoid damaging the garbage can 9 during clamping and fixing;

[0077] The driving of the clamping oil cylinder 22 to rotate the clamping plate 21 to the front side to completely loosen the opening end of the garbage can 9 in step S6 specifically includes: the telescopic rod of the clamping oil cylinder 22 is retracted downward to completely loosen the clamping plate 21, and at the same time, the driving rod 221 moves downward to drive the sliding seat 63 to slide downward, thereby driving the two clamping blocks 61 to slide in opposite directions through the connecting rod 62, the pressure relief channel 611 communicates with the outside through the sealing plug 661, the suction cup 67 is relieved from the side wall of the garbage can 9 to completely loosen the garbage can 9. Thus, the suction cup 67 can automatically and quickly separate from the side wall of the garbage can 9, avoiding irreversible damage to the elasticity of the suction cup 67 by mechanically pulling the suction cup 67 to relieve pressure, and also avoiding damage to the outer side wall of the suction cup 67 when the suction cup 67 is forcibly pulled away from the garbage can 9 by a machine when the negative pressure is too large, thereby prolonging the service life of the garbage can 9 and the suction cup 67

[0078] It should be pointed out that the embodiments not mentioned in the embodiment can refer to the corresponding contents in the first embodiment.

[0079] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic control system for a lifting and clamping mechanism of a garbage truck, characterized in that: include: A lifting mechanism (1) comprises two lifting swing arms (11) and two lifting cylinders (12) symmetrically arranged on both sides of a corresponding compression garbage truck (8), and a flip frame (13) arranged between the rear ends of the two lifting swing arms (11), the two lifting cylinders (12) being used to drive the two lifting swing arms (11) to swing and lift, and the rear side of the flip frame (13) being used to hang a plurality of garbage bins (9); A clamping mechanism (2) includes a clamping plate (21) rotatably disposed on the top of the turning frame (13), and a clamping oil cylinder (22) rotatably connected to the front side of the turning frame (13) and the front side of the clamping plate (21); The detection assembly (3) comprises a first detection device (31) provided on the side wall of the compression garbage truck (8) and provided at the rear side of the flipping station of the lifting arm (11), and a second detection device (32) provided on the side wall of the compression garbage truck (8) and provided at the rear side of the first detection device (31); when the second detection device (32) detects the lifting arm (11), the second detection device (32) starts timing and the lifting cylinder (12) drives the lifting arm (11) to swing and lift; when the lifting arm (11) swings and lifts until it is detected by the first detection device (31), the clamping cylinder (22) drives the clamping plate (21) to rotate downward toward the rear side to press and clamp the garbage bin (9); or, when the timing of the second detection device (32) ends, the clamping cylinder (22) drives the clamping plate (21) to rotate downward toward the rear side and press and clamp the garbage bin (9).

2. The automatic control system for the lifting and clamping mechanism of a garbage truck according to claim 1, characterized in that: The clamping plate (21) includes a 7-shaped pressing plate (211) with an opening facing backward, a connecting plate (212) fixed to the front side of the pressing plate (211), extending obliquely upward and connected to the telescopic rod of the clamping cylinder (22), a hanging tooth (131) corresponding to the clamping plate (21) is provided on the upper rear side of the flip frame (13), the open end of the trash can (9) is hung on the hanging tooth (131), and a supporting plate (132) is provided on the rear side of the lower part of the flip frame (13), and the telescopic rod of the clamping cylinder (22) extends upward through the connecting plate (212) to drive the pressing plate (211) to rotate downward toward the rear side and press and clamp the open end of the trash can (9).

3. The automatic control system for the lifting and clamping mechanism of a garbage truck according to claim 1, characterized in that: The lifting oil cylinder (12) is connected to a corresponding oil source via a lifting oil circuit system (4) including a lifting multi-way valve (44), and the clamping oil cylinder (22) is connected to the oil source via a clamping oil circuit system (5) including a clamping multi-way valve (54). The lifting oil circuit system (4) further includes a first one-way throttle valve (41), a second one-way throttle valve (42) and a lifting hydraulic lock (43). The rodless chambers of the two lifting oil cylinders (12) are connected to the first one-way throttle valve (41) and the lifting hydraulic lock (43) in sequence, and then connected to the A1 oil port of the lifting multi-way valve (44). The rod chambers of the two lifting oil cylinders (12) are connected to the second one-way throttle valve (42) in sequence. and the lifting hydraulic lock (43) are connected to the B1 oil port of the lifting multi-way valve (44), the clamping oil circuit system (5) also includes a clamping hydraulic lock (51), a pressure switch (52) and a pressure regulating control valve (53), the rod chamber of the clamping oil cylinder (22) is connected to the clamping hydraulic lock (51) and then connected to the A2 oil port of the clamping multi-way valve (54), the rodless chamber of the clamping oil cylinder (22) is connected in sequence to the pressure switch (52) and the clamping hydraulic lock (51) and then connected to the B2 oil port of the clamping multi-way valve (54), the pressure regulating control valve (53) is connected to the A1 oil port of the lifting multi-way valve (44) and the B2 oil port of the clamping multi-way valve (54).

4. The automatic control system for the lifting and clamping mechanism of a garbage truck according to claim 2, characterized in that: The clamping oil cylinder (22) is vertically arranged in the middle of the front side of the turning frame (13) and a driving rod (221) is horizontally passed through the upper end of the telescopic rod. The turning frame (13) is provided with a plurality of clamping assemblies (6) arranged side by side in the transverse direction between the support plate (132) and the hanging tooth (131). The clamping assemblies (6) include two clamping blocks (61) arranged for transverse sliding, two connecting rods (62) respectively connected to the opposite sides of the two clamping blocks (61), and a connecting rod (62) arranged between the two connecting rods (62) and having two ends respectively connected to the two connecting rods (61). 2) A rotatably connected slide (63), the slide (63) being connected to the drive rod (221), the proximal ends of the two connecting rods (62) being higher than the distal ends, the telescopic rod of the clamping oil cylinder (22) extending upward through the connecting plate (212) driving the pressing plate (211) to rotate toward the rear side to clamp the open end of the trash can (9), the drive rod (221) moving upward drives the slide (63) to slide upward, and drives the two clamping blocks (61) to slide toward each other and clamp on the side wall of the trash can (9) through the connecting rod (62).

5. The automatic control system for the lifting and clamping mechanism of a garbage truck as claimed in claim 4, characterized in that: The clamping assembly (6) further comprises two mounting plates (64) fixedly mounted in the flip frame (13), a plurality of guide posts (65) and two pressure relief rods (66) extending in opposite directions are respectively provided on opposite sides of the two mounting plates (64), a suction cup (67) is respectively provided at the rear of the opposite sides of the two clamping blocks (61), a pressure relief channel (611) connected to the suction cup (67) is provided in the clamping block (61), the clamping block (61) is laterally slidably sleeved on the guide posts (65) on the same side, and the proximal ends of the two pressure relief rods (66) extend into the corresponding pressure relief channels (611) to form a pressure relief channel (611) with the clamping block (61). The pressure relief channel (611) is equipped with a sealing plug (661) at one end away from the suction cup (67). When the connecting rod (62) drives the two clamping blocks (61) to slide toward each other until the sealing plug (661) is sealed and plugged in the pressure relief channel (611) at one end away from the suction cup (67), the two suction cups (67) are clamped and adsorbed on the side wall of the trash can (9). When the two clamping blocks (61) slide in opposite directions, the pressure relief channel (611) is separated from the sealing plug (661) and communicates with the outside world, and the suction cup (67) is depressurized and separated from the side wall of the trash can (9).

6. The automatic control system for the lifting and clamping mechanism of a garbage truck according to claim 1, characterized in that: The lifting swing arm (11) includes a limit rod (111) on the side wall of the compression garbage truck (8) whose front end rotates concentrically with the front end of the lifting cylinder (12), a lifting rod (112) whose upper front end is rotatably connected to the rear end of the limit rod (111) to form a lifting hinge point (14), a lower front end of the lifting rod (112) is rotatably connected to the rear end of the lifting cylinder (12), and a rear end of the lifting rod (112) extends obliquely downward and is connected to the middle of both sides of the flip frame (13), and the lifting cylinder (12) drives the lifting rod (112) to swing and lift around the lifting hinge point (14), and the first detection device (31) and the second detection device (32) are both used to detect the swinging lifting position of the lifting rod (112).

7. The automatic control system for the lifting and clamping mechanism of a garbage truck according to claim 6, characterized in that: A rotating shaft (133) is provided in the middle of both sides of the flip frame (13), and the rear end of the lifting rod (112) is rotatably connected to the far ends of the two rotating shafts (133) to form a flip hinge point (15). The lifting swing arm (11) also includes a fixed rod (113) with a lower end fixedly sleeved on the two rotating shafts (133). The upper end of the fixed rod (113) is tilted backward. A horizontally arranged pull rod (114) is rotatably connected between the upper end of the fixed rod (113) and the front end of the lifting rod (112). After the lifting rod (112) is swung and lifted around the lifting hinge point (14), the pull rod (114) pulls the fixed rod (113) to flip the flip frame (13) around the flip hinge point (15).

8. A control method for the automatic control system of the lifting and clamping mechanism of a garbage truck according to claim 3, characterized in that: The following steps are involved: S1, after hanging the open end of the trash can (9) on the turning frame (13) and activating the lifting switch, obtaining the detection signal of the second detection device (32), when the second detection device (32) detects the lifting swing arm (11), it is determined that the lifting swing arm (11) is in the low position, the second detection device (32) starts timing and the lifting cylinder (12) drives the lifting swing arm (11) to swing and lift; S2, when the lifting swing arm (11) swings and rises until it is detected by the first detection device (31), it is determined that the lifting swing arm (11) is in a high position, and the clamping oil cylinder (22) drives the clamping plate (21) to rotate downward toward the rear side to press and clamp the trash can (9); or, when the timing of the second detection device (32) ends, the clamping oil cylinder (22) drives the clamping plate (21) to rotate downward toward the rear side to press and clamp the trash can (9); S3, when the oil pressure between the rodless chamber of the clamping oil cylinder (22) and the B2 oil port of the clamping multi-way valve (54) cannot reach the pressure value of the pressure switch (52), it is determined that the clamping hydraulic lock (51) has a leakage fault, and the pressure regulating control valve (53) is opened to connect the A1 oil port of the lifting multi-way valve (44) and the B2 oil port of the clamping multi-way valve (54); S4, the telescopic rod of the lifting cylinder (12) continues to extend to drive the lifting swing arm (11) to swing and lift to the flipping position, and the garbage bin (9) is tilted and the open end faces downward to start unloading; S5, after the garbage bin (9) is unloaded, the lowering switch is activated to obtain a detection signal from the first detection device (31); when the first detection device (31) detects the lifting swing arm (11), it is determined that the lifting swing arm (11) is in a high position, and the lifting cylinder (12) drives the lifting swing arm (11) to swing downward; S6, when the lifting swing arm (11) swings down to be detected by the second detection device (32), it is determined that the lifting mechanism (1) is in a low position, and the clamping cylinder (22) drives the clamping plate (21) to rotate toward the front side until the open end of the trash can (9) is completely released.

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