Garbage can recovery device and garbage truck based on same

Abstract

The invention provides a garbage can recycling device which comprises a clamping jaw mechanism and a lifting mechanism, the clamping jaw mechanism is used for clamping a garbage can, the garbage can recycling device further comprises a posture adjusting mechanism, the posture adjusting mechanism is used for adjusting the posture of the clamping jaw mechanism, and the lifting mechanism is used for driving the clamping jaw mechanism and the posture adjusting mechanism to move in the vertical direction. The invention further provides a garbage truck based on the garbage can recovery device. The garbage can recycling device can achieve automatic recycling of garbage cans, can automatically adapt to different types of garbage cans, and is stable in clamping and excellent in effect.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental sanitation equipment, and in particular to a trash can recycling device and a garbage truck based on this device. Background Art

[0002] With the rapid development of China's social economy, the acceleration of the urbanization process, and the rapid improvement of people's living standards, the amount of garbage and waste generated in the process of urban production and life has also increased rapidly. The large increase in urban domestic waste makes garbage disposal more and more difficult. Garbage collection is an important link in garbage disposal. Traditional garbage collection is mainly completed by manual operation of sanitation workers, with a harsh working environment, high labor intensity, low work efficiency, and harm to human health. The emergence of garbage trucks has reduced the labor intensity of sanitation workers and improved work efficiency.

[0003] Currently, for common garbage trucks, when recycling trash cans, generally, it is necessary for workers to hang the trash can on the recycling device of the garbage truck. The recycling device is started to pour the garbage in the trash can into the garbage truck and then put down the trash can, and then the worker takes down the trash can and puts it back in place. This processing method requires manual hanging of the trash can, with a high labor intensity. In the prior art, some garbage trucks that do not require manual hanging of trash cans have also been disclosed. For example, the Chinese invention patent with the publication number CN110921158B discloses a side-loading garbage truck, including: a cab and a vehicle body, the cab is connected to the vehicle body and used to tow the vehicle body; a driver's cab is provided in the cab; the vehicle body includes a garbage storage bin with an upward opening; a manipulator and a traction mechanism, the manipulator is used to clamp the trash can, and the traction mechanism is used to drive the manipulator to move to pour the garbage in the trash can into the garbage storage bin through the opening; an auxiliary system, the auxiliary system includes a camera, a ranging sensor, a display screen, and a controller; the camera, the ranging sensor, and the display screen are all electrically connected to the controller. This side-loading garbage truck does not require manual hanging of trash cans when recycling trash cans, but the clamping range of the claws of this side-loading garbage truck is too large, and if there are obstacles around the trash can, it cannot be grabbed; moreover, this side-loading garbage truck is limited by its structure and can only clamp trash cans of a certain fixed size and cannot grab trash cans of other model sizes. Summary of the Invention

[0004] The purpose of the present invention is to provide a trash can recycling device and a garbage truck based on this device, which can not only realize the automatic recycling of trash cans, but also have a small working space and can adapt to trash cans of different model sizes.

[0005] A trash can recycling device includes a jaw mechanism and a lifting mechanism. The jaw mechanism is used to grip the trash can, and further includes an attitude adjustment mechanism. The attitude adjustment mechanism is used to adjust the attitude of the jaw mechanism, and the lifting mechanism is used to drive the jaw mechanism and the attitude adjustment mechanism to move in the vertical direction;

[0006] The jaw mechanism includes an attitude adjustment connecting piece, a camera, a position sensor, a jaw support piece, a jaw bracket and a jaw driving mechanism. The attitude adjustment connecting piece is fixedly installed on one side of the jaw support piece. There are two jaw brackets, which are symmetrically arranged and slidably installed on the other side of the jaw support piece. The jaw driving mechanism is fixed inside the jaw support piece and is used to drive the jaw bracket to move along the jaw support piece. The camera and the position sensor are both fixedly installed on the jaw support piece;

[0007] The attitude adjustment mechanism includes an attitude adjustment support piece, an attitude adjustment telescopic piece, an attitude adjustment connecting seat and an attitude adjustment hinge connecting piece. The attitude adjustment hinge connecting piece cooperates with the attitude adjustment connecting piece to enable the jaw mechanism and the attitude adjustment mechanism to be hinged together. The attitude adjustment connecting seat is fixedly installed on one side of the jaw support piece, and both the attitude adjustment connecting seat and the attitude adjustment connecting piece are located on the same side of the jaw support piece. The attitude adjustment telescopic piece is hingedly installed inside the attitude adjustment support piece, and its telescopic end is hingedly connected to the attitude adjustment connecting seat.

[0008] As a further improvement: The jaw driving mechanism includes a lead screw nut, a lead screw, a lead screw bracket and a servo motor. The lead screw is installed inside the jaw support piece through the lead screw bracket. The lead screw nut is installed on the lead screw, and the jaw bracket is fixedly connected to the lead screw nut. The servo motor is fixed inside the jaw support piece, and the driving end of the servo motor is connected to the lead screw to drive the jaw bracket to move along the lead screw.

[0009] As a further improvement: It further includes a clamping mechanism. The clamping mechanism is installed on the jaw bracket and is used to clamp the trash can; the clamping mechanism includes a rear clamping mechanism, a front clamping mechanism and a size adjustment mechanism. The size adjustment mechanism includes a size adjustment telescopic piece and a size adjustment slide rail. The size adjustment slide rail is fixedly installed at one end of the jaw bracket. The front clamping mechanism is slidably installed on the size adjustment slide rail. The rear clamping mechanism is fixedly installed at the other end of the jaw bracket. The size adjustment telescopic piece is installed between the rear clamping mechanism and the front clamping mechanism and is used to adjust the distance between the rear clamping mechanism and the front clamping mechanism; pressure sensors are installed on both the rear clamping mechanism and the front clamping mechanism.

[0010] As a further improvement: The rear clamping mechanism includes a rear clamping plate, a rear fixed jaw, a rear clamping telescopic member, and a rear clamping plate bracket. The rear clamping plate is fixedly installed on the jaw bracket through the rear clamping plate bracket. The rear fixed jaw is hingedly installed on the rear clamping plate. The rear clamping telescopic member is hingedly installed on the jaw bracket, and its telescopic end is hingedly connected to the rear fixed jaw. The front clamping mechanism includes a front clamping bracket, a front clamping plate, a front holding plate, a front holding connecting member, and a front clamping telescopic member. The front clamping bracket is slidably installed on the size adjustment slide rail. The front clamping plate is fixedly installed on the front clamping bracket. The front holding plate is hingedly installed on the front clamping plate. The front clamping telescopic member is hingedly installed on the front clamping bracket, and its telescopic end is hingedly connected to the front holding plate through the front holding connecting member. Pressure sensors are installed on the rear clamping plate, the rear fixed jaw, and the front holding plate.

[0011] As a further improvement: It further includes a rear barrel clamping mechanism. The rear barrel clamping mechanism is installed on the jaw mechanism and is used to press against the trash can. The rear barrel clamping mechanism includes a rear barrel clamping fixed plate, a rear barrel clamping telescopic member, a rear barrel clamping support member, a rear barrel clamping connecting member, and a rear barrel clamping plate. The rear barrel clamping telescopic member is fixedly installed on the jaw support member through the rear barrel clamping fixed plate and the rear barrel clamping support member, and the telescopic end of the rear barrel clamping telescopic member is fixedly connected to the rear barrel clamping plate through the rear barrel clamping connecting member. A pressure sensor is installed on the rear barrel clamping plate.

[0012] As a further improvement: It further includes a telescopic mechanism. The telescopic mechanism is installed on the lifting mechanism, and the attitude adjustment mechanism is installed on the telescopic mechanism. The telescopic mechanism is used to drive the jaw mechanism and the attitude adjustment mechanism to move in the horizontal direction. The telescopic mechanism includes a telescopic support member, a telescopic member, a telescopic connecting bracket, a connecting bracket fixed plate, a telescopic member connecting piece, a fixed plate connecting piece, and a sliding tube. One end of the sliding tube is slidably installed on the telescopic support member through a sliding tube mounting seat, and the sliding tube can slide along the direction of its own center line. The other end of the sliding tube is fixedly connected to the telescopic connecting bracket. A plurality of connecting bracket fixed plates are symmetrically arranged at both ends of the telescopic connecting bracket. The attitude adjustment support member is fixedly installed in the telescopic connecting bracket through the connecting bracket fixed plate. A fixed plate connecting piece is also installed on the telescopic connecting bracket. The telescopic member is hingedly installed on the telescopic support member, and the telescopic end of the telescopic member is hingedly connected to the fixed plate connecting piece through the telescopic member connecting piece. The telescopic member is used to drive the telescopic connecting bracket to move along the center line direction of the sliding tube. The telescopic mechanism further includes an inductive proximity sensor detection switch for limiting the stroke of the sliding tube. There are two inductive proximity sensor detection switches, which are respectively installed on the telescopic support member and the telescopic connecting bracket, and the stroke of the sliding tube is limited by controlling the distance between the telescopic support member and the telescopic connecting bracket.

[0013] As a further improvement solution: it further includes a flipping limiting mechanism and a flipping mechanism. The flipping mechanism is installed on the lifting mechanism and is hinged to the telescopic mechanism to drive the telescopic mechanism to rotate, thereby driving the trash can to flip. The flipping limiting mechanism is installed on the flipping mechanism to limit the position of the flipping mechanism. The flipping mechanism includes a flipping telescopic member, a flipping adjusting member, and a flipping support member. The flipping support member is fixedly installed on the lifting mechanism, and a hinged mounting seat is arranged on the flipping support member. The rear side of the lower end of the telescopic support member is hinged to the hinged mounting seat. One end of the flipping adjusting member is hinged to the hinged mounting seat, and the other end is hinged with a flipping telescopic member. The telescopic end of the flipping telescopic member is hinged to the front side of the lower end of the telescopic support member. The flipping limiting mechanism includes a limiting telescopic member, a limiting connecting member, and a limiting slider. A limiting slide rail cooperating with the limiting slider is arranged on the flipping support member. The limiting slider is slidably installed on the limiting slide rail. The limiting telescopic member is fixedly installed on the flipping support member, and the telescopic end of the limiting telescopic member is connected to the limiting slider through the limiting connecting member to drive the limiting slider to slide along the limiting slide rail. The projections of the flipping telescopic member and the flipping adjusting member on the flipping support member are within the stroke of the limiting slider.

[0014] As a further improvement solution: the lifting mechanism includes a pad rail support member, a lifting pad rail, a lifting tray, a lifting gasket, a secondary lifting telescopic member, a primary lifting connecting member, a lifting connecting member, a primary lifting telescopic member, a lifting bracket, a secondary lifting connecting member, a lifting connecting bracket, and a lifting fixing member. There are two lifting pad rails, which are symmetrically arranged. The pad rail support member is fixed on one side of the lifting pad rail. A lifting bracket is fixedly installed at the lower end of each lifting pad rail. Two primary lifting telescopic members are symmetrically and fixedly installed on the lifting bracket. The lifting connecting member is located between the two primary lifting telescopic members. The telescopic ends of the two primary lifting telescopic members are respectively connected to the two sides of the upper end of the lifting connecting member through the corresponding primary lifting connecting members. There are two secondary lifting telescopic members, which are respectively located in the two lifting connecting members. The secondary lifting telescopic members are arranged in a direction opposite to that of the primary lifting telescopic members. The lifting tray is located between the two secondary lifting telescopic members. The two secondary lifting telescopic members are respectively fixedly installed on the two sides of the upper end of the lifting tray through the corresponding lifting gaskets. The telescopic end of the secondary lifting telescopic member is fixedly connected to the lower end of the lifting connecting member through the secondary lifting connecting member. The lifting connecting bracket is fixed at the lower end of the lifting tray. The lifting connecting bracket is connected to the flipping support member through the lifting fixing member.

[0015] As a further improvement solution: it further includes a sliding guiding mechanism and a lifting mechanism. There are two sliding guiding mechanisms in total, and they are symmetrically arranged. The sliding guiding mechanism includes a slide rail connecting piece, a lifting separation piece, a connecting pin and a guiding slide rail. The setting direction of the guiding slide rail is parallel to the moving direction of the lifting mechanism. The lower end of the guiding slide rail is fixedly connected to the lifting bracket. Both ends of one side of the slide rail connecting piece are fixedly installed with cylindrical sliders, and the slide rail connecting piece is slidably installed on the guiding slide rail through the cylindrical sliders. The lower end of the other side of the slide rail connecting piece is hinged to the lower end of the lifting separation piece, and the lower end of the lifting separation piece is hinged to the rear side of the lower end of the telescopic support piece. A limiting protrusion is arranged on the upper end of the lifting separation piece facing one side of the slide rail connecting piece, and a connecting pin is fixed on the other side of the upper end of the lifting separation piece. A receiving groove matched with the limiting protrusion is formed on the slide rail connecting piece, and the lifting separation piece is hinged to the rear side of the upper end of the telescopic support piece through the connecting pin. There are two lifting mechanisms in total, and they are symmetrically arranged. The lifting mechanism includes a lifting limit inductive proximity sensor detection switch, a lifting support piece and a lifting slide rail. The lifting slide rail is an arc-shaped slide rail, and the lifting slide rail is fixed at the top end of the guiding slide rail, and the lower end of the track of the lifting slide rail is butted against the upper end of the track of the guiding slide rail. The lifting limit inductive proximity sensor detection switch is installed at the top end of the track of the lifting slide rail, and the lifting support piece is fixed on the side of the lifting slide rail away from the track.

[0016] The present invention also discloses a garbage truck based on the garbage bin recycling device, including a carriage and a vehicle body. The carriage is installed on the vehicle body, and the carriage has an upward opening. The garbage bin recycling device is located on one side of the carriage, and the lifting mechanism is installed on the carriage.

[0017] Adopting the above technical solution, the present invention has the following beneficial effects:

[0018] The present invention can realize the automatic recycling of garbage bins. Through the camera, it can automatically identify the garbage bins and the postures of the garbage bins. If the side of the garbage bin is inclined relative to the jaw mechanism, the posture adjustment mechanism will automatically adjust the posture of the jaw mechanism to make the jaws parallel to the side of the garbage bin. Therefore, the posture adjustment mechanism can automatically compensate for the relative angle deviation between the jaw mechanism and the garbage bin and assist the automatic grasping of the jaws.

[0019] The present invention changes the traditional thinking mode of garbage collection devices that can only recycle one type of trash can. The jaw mechanism can automatically adapt to the sizes of different types of trash cans, and the jaws have a certain x-axis compensation ability to adapt to trash cans of different types and sizes. A rear barrel clamping mechanism and a clamping mechanism are also provided on the jaw mechanism. The clamping mechanism is divided into a front clamping mechanism and a rear clamping mechanism. The front clamping mechanism and the rear clamping mechanism are connected by two size-adjusting telescopic members. When clamping, the lateral clamping size of the trash can can be adjusted by the two side jaws, and the size-adjusting telescopic member can drive the front clamping mechanism to adjust the longitudinal clamping size of the trash can. Pressure sensors are respectively provided in four directions of the trash can for the clamping mechanism and the rear barrel clamping mechanism. During the clamping process, it can ensure that the four sides of the trash can are evenly stressed, preventing the trash can from cracking due to uneven stress or excessive stress, and also avoiding insufficient force to effectively clamp the trash can, and maintaining the stability of clamping the trash can during the recycling process.

[0020] In the present invention, the telescopic member of the telescopic mechanism is inclined relative to the extending direction, and the weight of the trash can can be shared in the up and down directions, reducing the bearing pressure on the sliding tube and improving stability.

[0021] The lifting mechanism of the present invention is divided into two levels, ensuring both the lifting height of the trash can and the weight that can be lifted.

[0022] The present invention also proposes a solution to the problem of insufficient lifting and flipping strength. The flipping is divided into two levels, namely lifting and flipping and telescopic flipping. The lifting mechanism can flip the trash can by 45°. The flipping mechanism cooperates with the flipping limit mechanism to be able to flip the trash can by another 90°, so that the trash can is tilted by 135° as a whole, thus realizing the function of garbage dumping. Dividing the lifting and flipping into two levels can not only ensure that the lifting and flipping achieve a sufficient flipping angle stroke, but also ensure the force for dumping the trash can, with better stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a three-dimensional structural schematic diagram of the garbage truck provided by the embodiment of the present invention;

[0025] Figure 2 It is an operation schematic diagram of the garbage truck provided by the embodiment of the present invention;

[0026] Figure 3Schematic diagram of the three-dimensional structure of the trash can recycling device provided by another embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the three-dimensional structure of the trash can recycling device provided by an embodiment of the present invention from another perspective;

[0028] Figure 5 Schematic diagram of the partial structure of the trash can recycling device provided by an embodiment of the present invention;

[0029] Figure 6 Schematic diagram of the structural relationship among the jaw mechanism, the clamping mechanism and the rear barrel clamping mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0030] Figure 7 Schematic diagram of another perspective of the jaw mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0031] Figure 8 Schematic diagram of the clamping mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0032] Figure 9 Schematic diagram of the rear barrel clamping mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0033] Figure 10 Schematic diagram of the structural relationship between the attitude adjustment mechanism and the jaw mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0034] Figure 11 Schematic diagram of the telescopic mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0035] Figure 12 Schematic diagram of another perspective of the telescopic mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0036] Figure 13 Schematic diagram of the lifting mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0037] Figure 14 Schematic diagram of the first-stage lifting of the lifting mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0038] Figure 15 Schematic diagram of the second-stage lifting of the lifting mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0039] Figure 16 Schematic diagram of the flip limit mechanism and the flip mechanism in the trash can recycling device provided by an embodiment of the present invention;

[0040] Figure 17Schematic diagram of the partial structure for the lifting and flipping of the trash can recycling device provided by the embodiment of the present invention;

[0041] Figure 18 Schematic diagram of the partial structure for the rotational flipping of the trash can recycling device provided by the embodiment of the present invention;

[0042] Figure 19 Schematic diagram of the structure of the sliding guiding mechanism in the trash can recycling device provided by the embodiment of the present invention;

[0043] Figure 20 Schematic diagram of the positional relationship of the sliding guiding mechanism in the trash can recycling device provided by the embodiment of the present invention;

[0044] Figure 21 Schematic diagram of the cooperation relationship between the sliding guiding mechanism and the lifting mechanism in the trash can recycling device provided by the embodiment of the present invention;

[0045] Figure 22 Schematic diagram of the partial structure for the lifting and flipping of the garbage truck provided by another embodiment of the present invention;

[0046] Figure 23 Schematic diagram of the partial structure for the rotational flipping of the garbage truck provided by the embodiment of the present invention;

[0047] Reference numerals:

[0048] Jaw mechanism 1, clamping mechanism 2, rear barrel clamping mechanism 3, attitude adjustment mechanism 4, telescopic mechanism 5, lifting mechanism 6, flipping limit mechanism 7, flipping mechanism 8, sliding guiding mechanism 9, lifting mechanism 10, carriage 11, vehicle body 12, trash can 13;

[0049] Attitude adjustment connecting piece 101, camera 102, position sensor 103, sensor bracket 104, side baffle 105, motor baffle 106, jaw support 107, jaw bracket 108, lead screw nut 109, lead screw 110, lead screw bracket 111, servo motor 112;

[0050] Pressure sensor 201, rear clamping plate 202, rear fixed jaw 203, rear clamping telescopic member 204, rear clamping plate bracket 205, size adjustment telescopic member 206, size adjustment slide rail 207, front clamping bracket 208, front clamping plate 209, front holding plate 210, front holding connecting piece 211, front clamping telescopic member 212;

[0051] Rear barrel clamping fixing plate 301, rear barrel clamping telescopic member 302, rear barrel clamping support 303, rear barrel clamping connecting piece 304, rear barrel clamping plate 305;

[0052] Posture adjustment support 401, posture adjustment telescopic member 402, posture adjustment connecting seat 403, and posture adjustment hinge connecting member 404;

[0053] Telescopic support 501, telescopic member 502, telescopic connection bracket 503, connection bracket fixing plate 504, inductive proximity sensor detection switch 505, telescopic member connecting piece 506, fixing plate connecting piece 507, sliding tube 508;

[0054] Pad rail support 601, lifting pad rail 602, lifting tray 603, lifting gasket 604, secondary lifting telescopic member 605, primary lifting connecting piece 606, lifting connecting piece 607, primary lifting telescopic member 608, lifting bracket 609, secondary lifting connecting piece 610, lifting connection bracket 611, lifting fixing piece 612;

[0055] Limit telescopic member 701, limit connecting piece 702, limit slider 703;

[0056] Flip telescopic member 801, flip adjustment member 802, flip support 803;

[0057] Slide rail connecting piece 901, lifting separation piece 902, connecting pin 903, guiding slide rail 904, cylindrical slider 905, receiving groove 906;

[0058] Lifting limit inductive proximity sensor detection switch 1001, lifting support 1002, lifting slide rail 1003. Specific embodiments

[0059] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0061] As an embodiment of the present invention, please refer to Figure 3-5, a trash can recycling device, including a jaw mechanism 1 and a lifting mechanism 6. The jaw mechanism 1 is used to grip the trash can 13, and further includes an attitude adjustment mechanism 4. The attitude adjustment mechanism 4 is used to adjust the attitude of the jaw mechanism 1, and the lifting mechanism 6 is used to drive the jaw mechanism 1 and the attitude adjustment mechanism 4 to move in the vertical direction. The attitude adjustment mechanism 4 can adjust the attitude of the jaw mechanism 1 so that the jaw mechanism 1 can grip the trash can 13 at a suitable angle. Therefore, when the trash can recycling device is in use, it is not necessary for the trash can 13 to be exactly opposite to the jaw mechanism 1, and it can handle trash cans 13 with different attitudes within a certain range. The lifting mechanism 6 can drive the trash can 13 to lift and lower through the jaw mechanism 1;

[0062] Please refer to Figure 6-7 , the jaw mechanism 1 includes an attitude adjustment connecting piece 101, a camera 102, a position sensor 103, a jaw support piece 107, a jaw bracket 108 and a jaw driving mechanism. The attitude adjustment connecting piece 101 is fixedly installed on one side of the jaw support piece 107. There are two jaw brackets 108 in total. The two jaw brackets 108 are symmetrically arranged and slidably installed on the other side of the jaw support piece 107. The jaw driving mechanism is fixed in the jaw support piece 107 and is used to drive the jaw bracket 108 to move along the jaw support piece 107. The camera 102 and the position sensor 103 are both fixedly installed on the jaw support piece 107. The attitude adjustment connecting piece 101 is used to realize the connection between the jaw mechanism 1 and the attitude adjustment mechanism 4. When the jaw driving mechanism drives the jaw bracket 108 to move along the jaw support piece 107, the relative distance between the two jaw brackets 108 can be adjusted, so as to realize the gripping and putting down of the trash can 13. The jaw mechanism 1 can be applied to trash cans of different sizes, and the working space required for gripping the trash can 13 is small, reducing the influence of obstacles around the trash can on the gripping operation. When the trash can recycling device is applied to a garbage truck, a corresponding control terminal is arranged in the vehicle body 12 of the garbage truck. The camera 102 and the position sensor 103 are both communicatively connected to the control terminal. The camera 102 is used to identify the trash can, and the position sensor 103 is used to detect the relative position between the trash can 13 and the jaw mechanism 1, so that the jaw mechanism 1 can grip the trash can 13 at a suitable position and distance;

[0063] The position sensor 103 is installed on the jaw support piece 107 through a sensor bracket 104. The number of the position sensors 103 can be one or more. In this embodiment, there are two position sensors 103 in total, and they are symmetrically arranged on the jaw support piece 107. The two position sensors 103 cooperate with each other to better detect the relative position of the trash can 13. The specific type of the position sensor 103 is not limited. In this embodiment, an infrared position sensor is adopted;

[0064] The jaw mechanism 1 further includes side baffles 105. There are two side baffles 105, which are respectively installed at both ends of the jaw support 107, can protect the inside of the jaw support 107, and can limit the travel of the jaw bracket 108 moving along the jaw support 107.

[0065] Please refer to Figure 10 , the attitude adjustment mechanism 4 includes an attitude adjustment support 401, an attitude adjustment telescopic member 402, an attitude adjustment connection seat 403 and an attitude adjustment hinge connecting member 404. The attitude adjustment hinge connecting member 404 cooperates with the attitude adjustment connecting member 101 to enable the jaw mechanism 1 and the attitude adjustment mechanism 4 to be hinged together. The attitude adjustment connection seat 403 is fixedly installed on one side of the jaw support 107, and both the attitude adjustment connection seat 403 and the attitude adjustment connecting member 101 are located on the same side of the jaw support 107. The attitude adjustment telescopic member 402 is hingedly installed in the attitude adjustment support 401, and its telescopic end is hingedly connected to the attitude adjustment connection seat 403; when clamping the trash can 13, if the azimuth angle of the trash can 13 is deviated, by starting the attitude adjustment telescopic member 402, the attitude adjustment telescopic member 402 drives the jaw mechanism 1 to rotate around the attitude adjustment hinge connecting member 404 through telescoping, so that the jaw mechanism 1 can match the azimuth of the trash can 13, which is convenient for firmly clamping the trash can 13 and can cope with trash cans 13 in different postures within a certain range;

[0066] Two attitude adjustment telescopic members 402 can be provided. The two attitude adjustment telescopic members 402 are symmetrically installed on the attitude adjustment support 401, and the two attitude adjustment connection seats 403 are also symmetrically and fixedly installed at both ends of the rear side of the jaw support 107. Through the two attitude adjustment telescopic members 402, the attitude adjustment of the attitude adjustment mechanism 4 to the jaw mechanism 1 can be made more stable; the specific structure of the attitude adjustment telescopic member 402 is not limited, and it can be a hydraulic cylinder or an electric telescopic rod, etc. In this embodiment, the attitude adjustment telescopic member 402 adopts a hydraulic cylinder, and its telescopic stroke is controlled by a control terminal in the vehicle body 12.

[0067] As an embodiment of the present invention, please refer to Figure 7, the jaw driving mechanism can adopt various forms, such as an electric push rod, a hydraulic push rod, etc. In this embodiment, the jaw driving mechanism adopts a driving structure of a lead screw and nut. The jaw driving mechanism includes a lead screw nut 109, a lead screw 110, a lead screw bracket 111 and a servo motor 112. The lead screw 110 is installed in the jaw support member 107 through the lead screw bracket 111. The lead screw nut 109 is installed on the lead screw 110, and the jaw bracket 108 is fixedly connected to the lead screw nut 109. The servo motor 112 is fixed in the jaw support member 107, and the driving end of the servo motor 112 is connected to the lead screw 110 to drive the jaw bracket 108 to move along the lead screw 110. The servo motor 112 is communicatively connected to the control terminal. Four jaw driving mechanisms can be provided and symmetrically installed in the jaw support member 107. Two jaw driving mechanisms are respectively provided at both ends inside the jaw support member 107. The two jaw driving mechanisms are symmetrically arranged up and down and are respectively connected to the upper and lower ends at the rear side of the jaw bracket 108. Driving a jaw bracket 108 to move by two jaw driving mechanisms can make the jaw bracket 108 move more smoothly in the jaw support member 107;

[0068] For the jaw driving mechanism, during operation, the servo motor 112 is started to drive the lead screw 110 to rotate. Through the cooperation of the lead screw nut 109 and the lead screw 110, the jaw bracket 108 is further driven to move along the jaw support member 107;

[0069] The jaw mechanism 1 further includes a motor baffle 106. The motor baffle 106 is fixedly installed at the front end of the jaw support member 107 and is located on the front side of the servo motor 112 for protecting the servo motor 112.

[0070] As an embodiment of the present invention, please refer to Figure 6 and Figure 8, the described trash can recycling device further includes a clamping mechanism 2, which is installed on the jaw bracket 108 and is used to clamp the trash can 13; the clamping mechanism 2 includes a rear clamping mechanism, a front clamping mechanism and a size adjustment mechanism. The size adjustment mechanism includes a size adjustment telescopic member 206 and a size adjustment slide rail 207. The size adjustment slide rail 207 is fixedly installed at one end of the jaw bracket 108. The front clamping mechanism is slidably installed on the size adjustment slide rail 207. The rear clamping mechanism is fixedly installed at the other end of the jaw bracket 108. The size adjustment telescopic member 206 is installed between the rear clamping mechanism and the front clamping mechanism and is used to adjust the distance between the rear clamping mechanism and the front clamping mechanism. By adjusting the distance between the rear clamping mechanism and the front clamping mechanism, the clamping operation of trash cans 13 of different sizes can be realized; pressure sensors 201 are installed on both the rear clamping mechanism and the front clamping mechanism. The pressure sensor 201 can detect the clamping force of the rear clamping mechanism and the front clamping mechanism on the trash can 13 to avoid mechanical damage to the trash can 13 caused by excessive force. The pressure sensor 201 is communicatively connected to the control terminal of the vehicle body 12; the specific structure of the size adjustment telescopic member 206 is not limited and can be a hydraulic cylinder or an electric telescopic rod, etc. In this embodiment, the size adjustment telescopic member 206 uses a hydraulic cylinder, and its telescopic stroke is controlled by the control terminal in the vehicle body 12; there are two clamping mechanisms 2, which are symmetrically installed on the two jaw brackets 108 of the jaw mechanism 1 respectively.

[0071] The specific structures of the rear clamping mechanism and the front clamping mechanism are not limited. In this embodiment, the rear clamping mechanism includes a rear clamping plate 202, a rear fixed jaw 203, a rear clamping telescopic member 204, and a rear clamping plate bracket 205. The rear clamping plate 202 is fixedly installed on the jaw bracket 108 through the rear clamping plate bracket 205. The rear fixed jaw 203 is hingedly installed on the rear clamping plate 202. The rear clamping telescopic member 204 is hingedly installed on the jaw bracket 108, and its telescopic end is hingedly connected to the rear fixed jaw 203. The front clamping mechanism includes a front clamping bracket 208, a front clamping plate 209, a front clamping plate 210, a front clamping connecting member 211, and a front clamping telescopic member 212. The front clamping bracket 208 is slidably installed on the size adjustment slide rail 207. The front clamping plate 209 is fixedly installed on the front clamping bracket 208. The front clamping plate 210 is hingedly installed on the front clamping plate 209. The front clamping telescopic member 212 is hingedly installed on the front clamping bracket 208, and its telescopic end is hingedly connected to the front clamping plate 210 through the front clamping connecting member 211. Pressure sensors 201 are installed on the rear clamping plate 202, the rear fixed jaw 203, and the front clamping plate 210. The specific structures of the rear clamping telescopic member 204 and the front clamping telescopic member 212 are not limited and can be hydraulic cylinders or electric telescopic rods, etc. In this embodiment, both the rear clamping telescopic member 204 and the front clamping telescopic member 212 adopt hydraulic cylinders, and their telescopic strokes are controlled by a control terminal in the vehicle body 12.

[0072] When clamping the trash can 13, after the two jaw brackets 108 of the jaw mechanism 1 are adjusted to appropriate positions, the left and right sides of the trash can 13 are further clamped by the rear clamping plate 202 and the front clamping plate 209. The size adjustment telescopic member 206 drives the front clamping mechanism to slide along the size adjustment slide rail 207 through telescoping to adjust the distance between the rear clamping mechanism and the front clamping mechanism. By adjusting the distance between the rear clamping mechanism and the front clamping mechanism, the trash can 13 with a corresponding size can be matched. Then, the front clamping telescopic member 212 is activated, and the front clamping plate 210 is driven to rotate around the front clamping plate 209 through telescoping, so as to clamp the front side of the trash can 13. At the same time, the rear clamping telescopic member 204 is activated, and the rear fixed jaw 203 is driven to rotate around the rear clamping plate 202 through telescoping, so as to clamp the rear side of the trash can 13. The pressure sensors 201 installed on the rear clamping plate 202, the rear fixed jaw 203, and the front clamping plate 210 are used to monitor the clamping force on the trash can 13, avoiding damage to the trash can 13 caused by excessive force and also avoiding ineffective clamping of the trash can 13 due to insufficient force.

[0073] As an embodiment of the present invention, please refer to Figure 9, a trash can recycling device, further comprising a rear barrel clamping mechanism 3, the rear barrel clamping mechanism 3 is installed on the jaw mechanism 1 for pressing against the trash can 13; the rear barrel clamping mechanism 3 includes a rear barrel clamping fixing plate 301, a rear barrel clamping telescopic member 302, a rear barrel clamping support member 303, a rear barrel clamping connecting member 304 and a rear barrel clamping plate 305. The rear barrel clamping telescopic member 302 is fixedly installed on the jaw support member 107 through the rear barrel clamping fixing plate 301 and the rear barrel clamping support member 303, and the telescopic end of the rear barrel clamping telescopic member 302 is fixedly connected to the rear barrel clamping plate 305 through the rear barrel clamping connecting member 304; a pressure sensor 201 is installed on the rear barrel clamping plate 305, and the pressure sensor 201 is communicatively connected to the control terminal of the vehicle body 12 for monitoring the pressing pressure of the rear barrel clamping plate 305 against the trash can 13 to ensure appropriate force.

[0074] There are two rear barrel clamping telescopic members 302 in total, and they are symmetrically installed on the rear barrel clamping fixing plate 301. The telescopic ends of the two rear barrel clamping telescopic members 302 are respectively connected to the two rear ends of the rear side of the rear barrel clamping plate 305. The pressure sensor 201 is located on the front side of the rear barrel clamping plate 305, facing the trash can 13; the specific structure of the rear barrel clamping telescopic member 302 is not limited, and it can be a hydraulic cylinder or an electric telescopic rod, etc. In this embodiment, the rear barrel clamping telescopic member 302 adopts a hydraulic cylinder, and its telescopic stroke is controlled by the control terminal in the vehicle body 12.

[0075] When clamping the trash can 13, the rear barrel clamping mechanism 3 is located at the rear side of the trash can 13. While the clamping mechanism 2 clamps the trash can 13, the rear barrel clamping telescopic member 302 is activated to drive the rear clamping plate 305 to move towards the trash can 13, and gradually approach and press against the trash can 13, applying a pressing force to the middle part of the rear side of the trash can 13, so that the trash can 13 is clamped more firmly and will not accidentally fall off during movement. By applying force to multiple points of the trash can 13, it is also possible to disperse the force while ensuring the clamping effect, further avoiding mechanical damage to the trash can 13 during the recycling process.

[0076] As an embodiment of the present invention, please refer to Figure 11-12 , a trash can recycling device, further comprising a telescopic mechanism 5, the telescopic mechanism 5 is installed on the lifting mechanism 6, and the attitude adjustment mechanism 4 is installed on the telescopic mechanism 5. The telescopic mechanism 5 is used to drive the jaw mechanism 1 and the attitude adjustment mechanism 4 to move in the horizontal direction;

[0077] The telescopic mechanism 5 includes a telescopic support member 501, a telescopic member 502, a telescopic connection bracket 503, a connection bracket fixing plate 504, a telescopic member connecting piece 506, a fixing plate connecting piece 507, and a sliding tube 508. One end of the sliding tube 508 is slidably mounted on the telescopic support member 501 through a sliding tube mounting seat, and the sliding tube 508 can slide along the direction of its own center line. The other end of the sliding tube 508 is fixedly connected to the telescopic connection bracket 503. A plurality of connection bracket fixing plates 504 are symmetrically arranged at both ends of the telescopic connection bracket 503. The attitude adjustment support member 401 is fixedly mounted in the telescopic connection bracket 503 through the connection bracket fixing plates 504. A fixing plate connecting piece 507 is also mounted on the telescopic connection bracket 503. The telescopic member 502 is hingedly mounted on the telescopic support member 501, and the telescopic end of the telescopic member 502 is hingedly connected to the fixing plate connecting piece 507 through the telescopic member connecting piece 506. The telescopic member 502 is used to drive the telescopic connection bracket 503 to move along the direction of the center line of the sliding tube 508;

[0078] Five pin hole seats are provided at the upper and lower parts of the rear end of the telescopic support member 501, four of which are arranged at the upper and lower four corners of the rear end of the telescopic support member 501, and the fifth pin hole seat is located in the middle of the lower side of the rear end of the telescopic support member 501 and between the two pin hole seats on the lower side. There are four telescopic members 502 in total. The specific structure of the telescopic member 502 is not limited and can be a hydraulic cylinder or an electric telescopic rod, etc. In this embodiment, the telescopic member 502 adopts a hydraulic cylinder, and its telescopic stroke is controlled by a control terminal in the vehicle body 12; the four telescopic members 502 correspond to the four pin hole seats at the four corners of the rear end of the telescopic support member 501, and the cylinder ends of the telescopic members 502 are all hinged between the two pin holes of the pin hole seats; there are also four connection bracket fixing plates 504, which correspond to the four telescopic members 502 respectively. The four connection bracket fixing plates 504 are respectively located at the four corners of the front end of the telescopic connection bracket 503. A fixing plate connecting piece 507 is installed at each of the four corners of the telescopic connection bracket 503. The telescopic ends of the four telescopic members 502 are respectively hingedly connected to the corresponding fixing plate connecting pieces 507 through the telescopic member connecting pieces 506; there are two sliding tubes 508 in total, and they are symmetrically mounted on the telescopic support member 501. The front ends of the two sliding tubes 508 are both fixedly connected to the telescopic connection bracket 503.

[0079] The telescopic mechanism 5 further includes an inductive proximity sensor detection switch 505 for limiting the stroke of the sliding tube 508. There are two inductive proximity sensor detection switches 505, which are respectively installed on the telescopic support member 501 and the telescopic connection bracket 503. The stroke of the sliding tube 508 is limited by controlling the distance between the telescopic support member 501 and the telescopic connection bracket 503. The inductive proximity sensor detection switch 505 is communicatively connected to the control terminal.

[0080] The telescopic mechanism 5 is used to drive the gripper mechanism 1 and the attitude adjustment mechanism 4 to extend and retract, so as to adjust the distance between the gripper mechanism 1 and the trash can 13, enabling the gripper mechanism 1 to move to a suitable position relative to the trash can 13 before clamping. This reduces the orientation restrictions on the trash can 13 during trash can recycling and also facilitates subsequent clamping operations. When the telescopic mechanism 5 operates, the telescopic member 502 is activated, and through telescoping, it drives the telescopic connection bracket 503 to move along the center line direction of the sliding tube 508. The sliding tube 508 provides guidance and support for the movement of the telescopic connection bracket 503. The telescopic connection bracket 503 then drives the attitude adjustment mechanism 4 and the gripper mechanism 1 to move, causing the gripper mechanism 1 to move to a suitable position relative to the trash can 13.

[0081] As an embodiment of the present invention, please refer to Figure 16-18 , the trash can recycling device further includes a flipping limit mechanism 7 and a flipping mechanism 8. The flipping mechanism 8 is installed on the lifting mechanism 6 and is hingedly connected to the telescopic mechanism 5, and is used to drive the telescopic mechanism 5 to rotate, thereby driving the trash can 13 to flip. The flipping limit mechanism 7 is installed on the flipping mechanism 8 and is used to limit the position of the flipping mechanism 8;

[0082] The flipping mechanism 8 includes a flipping telescopic member 801, a flipping adjustment member 802, and a flipping support member 803. The flipping support member 803 is fixedly installed on the lifting mechanism 6. An articulated mounting seat is provided on the flipping support member 803. The rear side of the lower end of the telescopic support member 501 is hingedly connected to the articulated mounting seat. One end of the flipping adjustment member 802 is hingedly connected to the articulated mounting seat, and the other end is hingedly installed with a flipping telescopic member 801. The telescopic end of the flipping telescopic member 801 is hingedly connected to the front side of the lower end of the telescopic support member 501. There are two articulated mounting seats in total, and they are symmetrically arranged on the flipping support member 803. There are also two flipping telescopic members 801 and two flipping adjustment members 802. The two flipping telescopic members 801 are hingedly connected to the corresponding articulated mounting seats through the corresponding flipping adjustment members 802. The lower end of the telescopic support member 501 is hingedly connected between the inner sides of the two articulated mounting seats through the fifth pin hole seat in the middle of its rear side, and is further hingedly connected to the outer sides of the two articulated mounting seats through the inner pin holes of the two pin hole seats at the two corners of the lower end of the rear side of the telescopic support member 501, improving the stability of articulated rotation, so that the telescopic support member 501 can rotate around the articulated mounting seat. The specific structure of the flipping telescopic member 801 is not limited and can be a hydraulic cylinder or an electric telescopic rod, etc. In this embodiment, the flipping telescopic member 801 uses a hydraulic cylinder, and its telescopic stroke is controlled by the control terminal in the vehicle body 12;

[0083] The flipping limit mechanism 7 includes a limit telescopic member 701, a limit connecting member 702, and a limit slider 703. A limit slide rail that cooperates with the limit slider 703 is provided on the flipping support member 803. The limit slider 703 is slidably installed on the limit slide rail. The limit telescopic member 701 is fixedly installed on the flipping support member 803. The telescopic end of the limit telescopic member 701 is connected to the limit slider 703 through the limit connecting member 702 to drive the limit slider 703 to slide along the limit slide rail. The projections of the flipping telescopic member 801 and the flipping adjustment member 802 on the flipping support member 803 are within the stroke of the limit slider 703. The specific structure of the limit telescopic member 701 is not limited and can be a hydraulic cylinder or an electric telescopic rod, etc. In this embodiment, the limit telescopic member 701 uses a hydraulic cylinder, and its telescopic stroke is controlled by a control terminal in the vehicle body 12.

[0084] When the flipping limit mechanism 7 and the flipping mechanism 8 are operating, the limit telescopic member 701 is activated. By telescoping, it drives the limit slider 703 to slide along the limit slide rail, so that the limit slider 703 is located below the flipping telescopic member 801 and the flipping adjustment member 802 to limit the downward movement stroke of the flipping telescopic member 801. Then the flipping telescopic member 801 is activated. By telescoping, it drives the telescopic support member 501 to rotate around the hinge mounting seat, thereby realizing the flipping of the trash can 13 clamped by the gripper mechanism 1, facilitating the dumping of the garbage in the trash can 13.

[0085] As an embodiment of the present invention, please refer to Figure 13-15, a trash can recycling device, and the specific structure of its lifting mechanism 6 is not limited. In this embodiment, the lifting mechanism 6 includes a pad rail support 601, a lifting pad rail 602, a lifting tray 603, a lifting gasket 604, a secondary lifting telescopic member 605, a primary lifting connecting member 606, a lifting connecting member 607, a primary lifting telescopic member 608, a lifting bracket 609, a secondary lifting connecting member 610, a lifting connecting bracket 611, and a lifting fixing member 612. There are two lifting pad rails 602 in total, and they are symmetrically arranged. The pad rail support 601 is fixed on one side of the lifting pad rail 602. A lifting bracket 609 is fixedly installed at the lower end of each lifting pad rail 602. Two primary lifting telescopic members 608 are symmetrically and fixedly installed on the lifting bracket 609. The lifting connecting member 607 is located between the two primary lifting telescopic members 608. The telescopic ends of the two primary lifting telescopic members 608 are respectively connected to both sides of the upper end of the lifting connecting member 607 through corresponding primary lifting connecting members 606. There are two secondary lifting telescopic members 605 in total, and they are respectively located in the two lifting connecting members 607. The secondary lifting telescopic member 605 is arranged in the opposite direction to the primary lifting telescopic member 608. The lifting tray 603 is located between the two secondary lifting telescopic members 605. The two secondary lifting telescopic members 605 are respectively fixedly installed on both sides of the upper end of the lifting tray 603 through corresponding lifting gaskets 604. The telescopic end of the secondary lifting telescopic member 605 is fixedly connected to the lower end of the lifting connecting member 607 through a secondary lifting connecting member 610. The lifting connecting bracket 611 is fixed at the lower end of the lifting tray 603. The lifting connecting bracket 611 is connected to the flipping support 803 through a lifting fixing member 612. The specific structures of the secondary lifting telescopic member 605 and the primary lifting telescopic member 608 are not limited, and they can be hydraulic cylinders or electric telescopic rods, etc. In this embodiment, both the secondary lifting telescopic member 605 and the primary lifting telescopic member 608 adopt hydraulic cylinders, and their telescopic strokes are controlled by a control terminal in the vehicle body 12.

[0086] When applying this trash can recycling device to a garbage truck, the lifting mechanism 6 is fixedly installed on one side of the carriage 11 of the garbage truck. The upper and lower ends of the lifting pad rail 602 are respectively fixedly connected to the upper and lower ends of the carriage 11. The pad rail support 601 is fixed in the gap between the lifting pad rail 602 and the carriage 11 for strengthening and supporting the lifting pad rail 602. When performing the lifting operation on the trash can 13, the four primary lifting telescopic members 608 are activated. Through telescoping, they drive the two lifting connecting members 607 to rise and fall smoothly. When the primary lifting telescopic members 608 reach the maximum stroke, the two secondary lifting telescopic members 605 in the two lifting connecting members 607 are activated. Through telescoping, they drive the lifting tray 603 to rise and fall smoothly, and then drive the flipping support 803 to rise and fall smoothly through the lifting connecting bracket 611, realizing the lifting of the flipping mechanism 8, and further realizing the lifting of the trash can 13.

[0087] As an embodiment of the present invention, please refer to Figure 19-21 A garbage bin recycling device also includes a sliding guide mechanism 9 and a jerk mechanism 10. There are two sliding guide mechanisms 9, which are symmetrically arranged. The sliding guide mechanism 9 includes a slide rail connector 901, a jerk disengagement member 902, a connecting pin 903 and a guide rail 904. The setting direction of the guide rail 904 is parallel to the moving direction of the lifting mechanism 6. The lower end of the guide rail 904 is fixedly connected to the lifting bracket 609. Both ends of one side of the slide rail connector 901 are fixedly installed with cylindrical sliders 905, and the slide rail connector 901 is slidably installed on the guide rail 904 through the cylindrical slider 905. The lower end of the other side of the slide rail connector 901 is fixedly installed with a cylindrical slider 905. The end is hinged to the lower end of the jerk and detach member 902, and the lower end of the jerk and detach member 902 is hinged to the rear side of the lower end of the telescopic support member 501. Specifically, the telescopic support member 501 is hinged to the jerk and detach member 902 through the pin holes at the two corners of the rear side of the lower end thereof facing the outer side. A limiting protrusion is provided on the upper end of the jerk and detach member 902 facing the side of the slide rail connecting member 901, and a connecting pin 903 is fixed to the other side of the upper end of the jerk and detach member 902. The slide rail connecting member 901 is provided with a receiving groove 906 that matches the limiting protrusion. The jerk and detach member 902 is hingedly connected to the rear side of the upper end of the telescopic support member 501 through the connecting pin 903.

[0088] There are two jerk mechanisms 10, which are symmetrically arranged. The jerk mechanism 10 includes a jerk limit inductive proximity sensor detection switch 1001, a jerk support 1002 and a jerk slide rail 1003. The jerk slide rail 1003 is an arc-shaped slide rail. The jerk slide rail 1003 is fixed to the top of the guide slide rail 904, and the lower end of the track of the jerk slide rail 1003 is connected to the upper end of the track of the guide slide rail 904. The top of the track of the jerk slide rail 1003 is installed with a jerk limit inductive proximity sensor detection switch 1001. The sensor detection switch 1001 is communicatively connected to the control terminal in the vehicle body 12, and is used to monitor the position of the slide rail connector 901 on the clean and jerk slide rail 1003 to prevent the slide rail connector 901 from exceeding the stroke during operation. The clean and jerk support member 1002 is fixed on the side of the clean and jerk slide rail 1003 away from the track; the track of the clean and jerk slide rail 1003 is a 90° arc track, which can realize a 45° clean and jerk flip of the sliding guide mechanism 9 through cooperation with the slide rail connector 901, thereby realizing a 45° clean and jerk flip of the trash can 13.

[0089] When applying this trash can recycling device to a garbage truck, the guiding slide rail 904 is fixedly installed on the carriage 11 of the garbage truck, and the upper end of the guiding slide rail 904 is flush with the upper end of the carriage 11. The lower end of the guiding slide rail 904 is fixedly connected to the lifting bracket 609 of the lifting mechanism 6. The lifting slide rail 1003 is fixedly installed on the upper end surfaces of the guiding slide rail 904 and the carriage 11. When the lifting mechanism 6 performs a lifting operation on the trash can 13, the telescopic mechanism 5 is lifted accordingly. The slide rail connecting member 901 slides along the guiding slide rail 904 through the cylindrical slider 905, realizing the guiding function for the movement of the telescopic mechanism 5. As the lifting mechanism 6 is lifted, the cylindrical slider 905 at the upper end of the slide rail connecting member 901 gradually disengages from the guiding slide rail 904 and enters the lifting slide rail 1003. Since the lifting slide rail 1003 is an arc track, the upper end of the slide rail connecting member 901 gradually tilts, and then drives the tilting of the jaw mechanism 1 through the telescopic mechanism 5 to perform a lifting and flipping operation on the trash can 13. When the cylindrical slider 905 at the upper end of the slide rail connecting member 901 gradually reaches the end of the lifting slide rail 1003, the lifting limit inductive proximity sensor detection switch 1001 obtains the corresponding position information, and the control terminal in the vehicle body 12 controls the lifting mechanism 6 to stop operating. At this time, the slide rail connecting member 901 realizes a 45° lifting and flipping, and then realizes a 45° lifting and flipping of the trash can 13. After that, the flipping telescopic member 801 is activated. Through telescoping, it drives the lower side of the rear end of the telescopic support member 501 to rotate around the hinge mounting seat. During this process, the limit protrusion of the lifting disengaging member 902 gradually disengages from the accommodating groove 906, and the relative rotation occurs between the lower end of the lifting disengaging member 902 and the lower end of the slide rail connecting member 901, forming a "V" shape between the lifting disengaging member 902 and the slide rail connecting member 901, driving the rotation of the telescopic mechanism 5, and then realizing the flipping of the trash can 13 clamped by the jaw mechanism 1. This stage rotates a total of 90°. That is, at the end of the stroke, the included angle between the lifting disengaging member 902 and the slide rail connecting member 901 is 90°, and the trash can 13 is flipped a total of 135°. At this time, the opening of the trash can 13 faces obliquely downward, facilitating the dumping of the garbage in the trash can 13.

[0090] As an embodiment of the present invention, please refer to Figure 1-2As shown in FIGS. 22 - 23, a garbage truck based on a trash can recycling device includes a carriage 11 and a vehicle body 12. The carriage 11 is installed on the vehicle body 12. The carriage 11 has an upward opening. The trash can recycling device is located on one side of the carriage 11. The lifting mechanism 6 is installed on the carriage 11. The upper and lower ends of the lifting pad rail 602 are respectively fixedly connected to the upper and lower ends of the carriage 11. The pad rail support 601 is fixed at the gap between the lifting pad rail 602 and the carriage 11 for strengthening and supporting the lifting pad rail 602. The guiding slide rail 904 is fixedly installed on the carriage 11 of the garbage truck, and the upper end of the guiding slide rail 904 is flush with the upper end of the carriage 11. The lifting slide rail 1003 is fixedly installed on the upper end surfaces of the guiding slide rail 904 and the carriage 11. A control terminal is arranged in the cab of the vehicle body 12.

[0091] When the garbage truck performs the recycling operation of the trash can 13, the camera 102 searches for and identifies the trash can 13. After finding the trash can 13, the camera 102 starts to identify the posture of the trash can 13. At the same time, the posture adjustment telescopic member 402 drives the jaw mechanism 1 to rotate around the posture adjustment hinge connecting member 404 through telescoping to compensate for the relative angular deviation between the jaw mechanism 1 and the trash can 13.

[0092] After the posture adjustment of the jaw mechanism 1 is completed, the telescopic member 502 is activated and drives the telescopic connecting bracket 503 to move along the center line direction of the slide tube 508 through telescoping. The telescopic connecting bracket 503 further drives the posture adjustment mechanism 4 and the jaw mechanism 1 to move, so that the jaw mechanism 1 moves to a suitable position relative to the trash can 13. When the jaw mechanism 1 approaches the trash can 13 to a certain distance, the position sensor 103 is triggered, and at this time, the telescopic member 502 stops extending.

[0093] The servo motor 112 is started to drive the lead screw 110 to rotate. Through the cooperation of the lead screw nut 109 and the lead screw 110, the jaw bracket 108 is driven to move along the jaw support 107. After the two jaw brackets 108 are adjusted to the appropriate positions, the clamping mechanism 2 continues to clamp the left and right sides of the trash can 13 through the rear clamping plate 202 and the front clamping plate 209. The pressure sensor 201 is used to monitor the clamping force on the trash can 13. When the pressure reaches a certain value, the rear clamping plates 202 and the front clamping plates 209 on both sides stop clamping.

[0094] After the clamping jaws on both sides stop, the size adjustment telescopic member 206 drives the front clamping mechanism to slide along the size adjustment slide rail 207 through telescoping, so as to adjust the distance between the rear clamping mechanism and the front clamping mechanism. By adjusting the distance between the rear clamping mechanism and the front clamping mechanism, the trash can 13 of the corresponding size is matched until it is consistent with the side width of the trash can 13. Then the front clamping telescopic member 212 is activated, and drives the front clamping plate 210 to rotate around the front clamping plate 209 through telescoping, so as to clamp the front side of the trash can 13. At the same time, the rear clamping telescopic member 204 is activated, and drives the rear fixed clamping jaw 203 to rotate around the rear clamping plate 202 through telescoping, so as to clamp the rear side of the trash can 13; the pressure sensors 201 on the rear fixed clamping jaw 203 and the front clamping plate 210 are used to monitor the clamping pressure on the trash can 13. When the pressure reaches a certain value, the clamping mechanism 2 stops the clamping action, avoiding damage to the trash can 13 caused by excessive force and also avoiding ineffective clamping of the trash can 13 due to too little force.

[0095] While the clamping mechanism 2 clamps the trash can 13, the rear barrel clamping telescopic member 302 is activated, driving the rear clamping plate 305 to move towards the trash can 13, gradually approaching and pressing against the trash can 13, and applying a pressing force on the rear side of the trash can 13. The pressure sensor 201 on the rear clamping plate 305 is used to monitor the pressure on the trash can 13. When the pressure reaches a certain value, the rear barrel clamping mechanism 3 stops the clamping action, completing the clamping operation of the trash can 13 and making the clamping of the trash can 13 more stable.

[0096] The attitude adjustment telescopic member 402 drives the jaw mechanism 1 to return to the initial attitude, and the telescopic member 502 of the telescopic mechanism 5 starts to contract and stops contracting when triggering the inductive proximity sensor detection switch 505.

[0097] After the contraction action is completed, the lifting operation starts. The four first-level lifting telescopic members 608 extend, driving the two lifting connectors 607 to rise smoothly. When the first-level lifting telescopic members 608 reach the maximum stroke, the two second-level lifting telescopic members 605 in the two lifting connectors 607 start to extend, driving the lifting tray 603 to rise smoothly, realizing the overall sliding along the guide slide rail 904, and further realizing the smooth rise of the trash can 13.

[0098] As the two secondary lifting telescopic members 605 continue to extend, the cylindrical slider 905 at the upper end of the slide rail connector 901 gradually disengages from the guide slide rail 904 and enters the clean and jerk slide rail 1003. Since the clean and jerk slide rail 1003 is a circular arc track, the upper end of the slide rail connector 901 gradually tilts. When the length of the flip telescopic member 801 remains unchanged, the flip telescopic member 801 drives the flip adjustment member 802 to rotate upward, and then drives the tilt of the clamping mechanism 1 through the telescopic mechanism 5 to lift and flip the trash can 13. When reaching the end of the clean and jerk slide rail 1003, the clean and jerk limit inductive proximity sensor detection switch 1001 is triggered, and the control terminal in the vehicle body 12 controls the secondary lifting telescopic member 605 to stop running, and the limit telescopic member 701 extends, driving the telescopic limit slider 703 to slide along the limit slide rail, so that the limit slider 703 is located below the flip telescopic member 801 and the flip adjustment member 802 to limit the downward movement of the flip telescopic member 801. At this point, the lifting operation and the clean and jerk flipping operation are all completed, and the trash can 13 is now tilted inward at 45° to be cleaned and flipped.

[0099] The flip telescopic member 801 begins to extend, driving the lower side of the rear end of the telescopic support member 501 to rotate around the hinged mounting seat. During this process, the limiting protrusion of the lift-off member 902 gradually disengages from the accommodating groove 906, and the lower end of the lift-off member 902 and the lower end of the slide rail connecting member 901 rotate relative to each other, so that a "V" shape is formed between the lift-off member 902 and the slide rail connecting member 901, driving the telescopic mechanism 5 to rotate, thereby realizing the flipping of the trash can 13 clamped by the clamping claw mechanism 1, and stopping when the flip telescopic member 801 reaches the maximum stroke. At this stage, it rotates a total of 90°, that is, at the end of the stroke, the angle between the lift-off member 902 and the slide rail connecting member 901 is 90°, and the trash can 13 is flipped a total of 135°. At this time, the opening of the trash can 13 is facing obliquely downward, which is convenient for pouring out the trash in the trash can 13.

[0100] After the dumping action is completed, the flip telescopic member 801 begins to retract, driving the lower side of the rear end of the telescopic support member 501 to rotate around the hinged mounting seat. During this process, the limiting protrusion of the jerk and release member 902 gradually returns to the receiving groove 906, and the limiting telescopic member 701 is retracted, driving the telescopic limiting slider 703 to slide along the limiting slide rail, so that the limiting slider 703 leaves the bottom of the flip telescopic member 801 and the flip adjustment member 802. The secondary lifting telescopic member 605 and the primary lifting telescopic member 608 are retracted in turn, and the telescopic member 502 extends to return the trash can 13 to its original position. The rear clamping telescopic member 302, the front clamping telescopic member 212, and the rear clamping telescopic member 204 are retracted in turn, and the servo motor 112 starts to drive the lead screw 110 to rotate, loosening the trash can 13, and the telescopic member 502 is retracted, thus completing the entire garbage recycling process.

[0101] The present invention can achieve the automatic recycling of trash cans. Through camera 102, it can automatically identify trash can 13 and the posture of trash can 13. If the side of trash can 13 is inclined relative to gripper mechanism 1, posture adjustment mechanism 4 will automatically adjust the posture of gripper mechanism 1 to make the gripper parallel to the side of trash can 13. Therefore, posture adjustment mechanism 4 can automatically compensate for the relative angle deviation between gripper mechanism 1 and trash can 13 and assist the automatic grasping of the gripper.

[0102] The present invention changes the traditional thinking mode of garbage recycling devices that can only recycle one type of trash can. Gripper mechanism 1 can automatically adapt to the sizes of different types of trash cans, and the gripper has a certain x-axis compensation ability to adapt to trash cans of different types and sizes. A rear barrel clamping mechanism 3 and a clamping mechanism 2 are also provided on gripper mechanism 1. Clamping mechanism 2 is further divided into a front clamping mechanism and a rear clamping mechanism. The front clamping mechanism and the rear clamping mechanism are connected by two size-adjusting telescopic members 206. When clamping, the lateral clamping size of trash can 13 can be adjusted by the two side grippers, and size-adjusting telescopic member 206 can drive the front clamping mechanism to adjust the longitudinal clamping size of trash can 13. Pressure sensors 201 are respectively provided in four directions of trash can 13 by clamping mechanism 2 and rear barrel clamping mechanism 3. During the clamping process, it can ensure that the four sides of trash can 13 are evenly stressed, prevent trash can 13 from cracking due to uneven stress or excessive stress, and also avoid insufficient force to effectively clamp trash can 13, and can maintain the stability of clamping trash can 13 during the recycling process.

[0103] The telescopic member 502 of telescopic mechanism 5 of the present invention is inclined relative to the extending direction, and the weight of trash can 13 can be shared in the up and down directions, reducing the load-bearing pressure on sliding tube 508 and improving stability.

[0104] The lifting mechanism of the present invention is divided into two levels, which can ensure the lifting height of trash can 13 and also ensure the lifted weight.

[0105] The present invention also proposes a solution to the problem of insufficient lifting and flipping strength. The flipping is divided into two levels, namely lifting and flipping and telescopic flipping. Lifting mechanism 10 can flip trash can 13 by 45°. Flipping mechanism 8 and flipping limit mechanism 7 cooperate to further flip the trash can by 90°, so that trash can 13 is tilted by 135° as a whole, thus realizing the function of garbage dumping. Dividing the lifting and flipping into two levels can not only ensure that the lifting and flipping achieve a sufficient flipping angle stroke, but also ensure the force for dumping trash can 13, with better stability.

Claims

1. A trash can recycling device, comprising a jaw mechanism (1) and a lifting mechanism (6), the jaw mechanism (1) being used for clamping a trash can (13), characterized in that, It further includes an attitude adjustment mechanism (4) for adjusting the attitude of the jaw mechanism (1), and a lifting mechanism (6) for driving the jaw mechanism (1) and the attitude adjustment mechanism (4) to move in the vertical direction; The jaw mechanism (1) includes an attitude adjustment connecting piece (101), a camera (102), a position sensor (103), a jaw support piece (107), a jaw bracket (108) and a jaw driving mechanism. The attitude adjustment connecting piece (101) is fixedly installed on one side of the jaw support piece (107). There are two jaw brackets (108) which are symmetrically arranged and slidably installed on the other side of the jaw support piece (107). The jaw driving mechanism is fixed in the jaw support piece (107) and is used to drive the jaw bracket (108) to move along the jaw support piece (107). The camera (102) and the position sensor (103) are both fixedly installed on the jaw support piece (107); The attitude adjustment mechanism (4) includes an attitude adjustment support piece (401), an attitude adjustment telescopic piece (402), an attitude adjustment connecting seat (403) and an attitude adjustment hinge connecting piece (404). The attitude adjustment hinge connecting piece (404) cooperates with the attitude adjustment connecting piece (101) to enable the jaw mechanism (1) and the attitude adjustment mechanism (4) to be hinged together. The attitude adjustment connecting seat (403) is fixedly installed on one side of the jaw support piece (107), and both the attitude adjustment connecting seat (403) and the attitude adjustment connecting piece (101) are located on the same side of the jaw support piece (107). The attitude adjustment telescopic piece (402) is hingedly installed in the attitude adjustment support piece (401), and its telescopic end is hingedly connected to the attitude adjustment connecting seat (403).

2. The trash can recycling device according to claim 1, wherein, The jaw driving mechanism includes a lead screw nut (109), a lead screw (110), a lead screw bracket (111) and a servo motor (112). The lead screw (110) is installed in the jaw support piece (107) through the lead screw bracket (111). The lead screw nut (109) is installed on the lead screw (110), and the jaw bracket (108) is fixedly connected to the lead screw nut (109). The servo motor (112) is fixed in the jaw support piece (107), and the driving end of the servo motor (112) is connected to the lead screw (110) to drive the jaw bracket (108) to move along the lead screw (110).

3. The trash can recycling device according to claim 1, characterized in that, It further includes a clamping mechanism (2), which is installed on the jaw support (108) and used to clamp the trash can (13); the clamping mechanism (2) includes a rear clamping mechanism, a front clamping mechanism and a size adjustment mechanism. The size adjustment mechanism includes a size adjustment telescopic member (206) and a size adjustment slide rail (207). The size adjustment slide rail (207) is fixedly installed at one end of the jaw support (108). The front clamping mechanism is slidably installed on the size adjustment slide rail (207). The rear clamping mechanism is fixedly installed at the other end of the jaw support (108). The size adjustment telescopic member (206) is installed between the rear clamping mechanism and the front clamping mechanism and is used to adjust the distance between the rear clamping mechanism and the front clamping mechanism; pressure sensors (201) are installed on both the rear clamping mechanism and the front clamping mechanism.

4. The trash can recycling device according to claim 3, wherein The rear clamping mechanism includes a rear clamping plate (202), a rear fixed jaw (203), a rear clamping telescopic member (204) and a rear clamping plate support (205). The rear clamping plate (202) is fixedly installed on the jaw support (108) through the rear clamping plate support (205). The rear fixed jaw (203) is hingedly installed on the rear clamping plate (202). The rear clamping telescopic member (204) is hingedly installed on the jaw support (108), and its telescopic end is hingedly connected to the rear fixed jaw (203); The front clamping mechanism includes a front clamping support (208), a front clamping plate (209), a front holding plate (210), a front holding connecting member (211) and a front clamping telescopic member (212). The front clamping support (208) is slidably installed on the size adjustment slide rail (207). The front clamping plate (209) is fixedly installed on the front clamping support (208). The front holding plate (210) is hingedly installed on the front clamping plate (209). The front clamping telescopic member (212) is hingedly installed on the front clamping support (208), and its telescopic end is hingedly connected to the front holding plate (210) through the front holding connecting member (211); pressure sensors (201) are installed on the rear clamping plate (202), the rear fixed jaw (203) and the front holding plate (210).

5. The trash can recycling device according to claim 4, characterized in that, It further includes a rear trash can clamping mechanism (3), which is installed on the jaw mechanism (1) and used to press against the trash can (13); the rear trash can clamping mechanism (3) includes a rear trash can clamping fixed plate (301), a rear trash can clamping telescopic member (302), a rear trash can clamping support member (303), a rear trash can clamping connecting member (304) and a rear trash can clamping plate (305). The rear trash can clamping telescopic member (302) is fixedly installed on the jaw support member (107) through the rear trash can clamping fixed plate (301) and the rear trash can clamping support member (303), and the telescopic end of the rear trash can clamping telescopic member (302) is fixedly connected to the rear trash can clamping plate (305) through the rear trash can clamping connecting member (304); a pressure sensor (201) is installed on the rear trash can clamping plate (305).

6. The trash can recycling device according to any one of claims 1-5, characterized in that, It further includes a telescopic mechanism (5). The telescopic mechanism (5) is installed on the lifting mechanism (6), and the attitude adjustment mechanism (4) is installed on the telescopic mechanism (5). The telescopic mechanism (5) is used to drive the gripper mechanism (1) and the attitude adjustment mechanism (4) to move in the horizontal direction; The telescopic mechanism (5) includes a telescopic support (501), a telescopic member (502), a telescopic connection bracket (503), a connection bracket fixing plate (504), a telescopic member connecting piece (506), a fixing plate connecting piece (507), and a sliding tube (508). One end of the sliding tube (508) is slidably installed on the telescopic support (501) through a sliding tube mounting seat, and the sliding tube (508) can slide along the direction of its own center line. The other end of the sliding tube (508) is fixedly connected to the telescopic connection bracket (503). A plurality of connection bracket fixing plates (504) are symmetrically arranged at both ends of the telescopic connection bracket (503). The attitude adjustment support (401) is fixedly installed in the telescopic connection bracket (503) through the connection bracket fixing plate (504). A fixing plate connecting piece (507) is also installed on the telescopic connection bracket (503). The telescopic member (502) is hingedly installed on the telescopic support (501), and the telescopic end of the telescopic member (502) is hingedly connected to the fixing plate connecting piece (507) through the telescopic member connecting piece (506). The telescopic member (502) is used to drive the telescopic connection bracket (503) to move along the direction of the center line of the sliding tube (508); The telescopic mechanism (5) further includes an inductive proximity sensor detection switch (505) for limiting the stroke of the sliding tube (508). There are two inductive proximity sensor detection switches (505), which are respectively installed on the telescopic support (501) and the telescopic connection bracket (503), and the stroke of the sliding tube (508) is limited by controlling the distance between the telescopic support (501) and the telescopic connection bracket (503).

7. The trash can recycling device according to claim 6, characterized in that, It further includes a flipping limit mechanism (7) and a flipping mechanism (8). The flipping mechanism (8) is installed on the lifting mechanism (6) and is hingedly connected to the telescopic mechanism (5) for driving the telescopic mechanism (5) to rotate, thereby driving the trash can (13) to flip. The flipping limit mechanism (7) is installed on the flipping mechanism (8) for defining the position of the flipping mechanism (8). The flipping mechanism (8) includes a flipping telescopic member (801), a flipping adjustment member (802), and a flipping support (803). The flipping support (803) is fixedly installed on the lifting mechanism (6). An articulated mounting seat is provided on the flipping support (803). The rear side of the lower end of the telescopic support (501) is hingedly connected to the articulated mounting seat. One end of the flipping adjustment member (802) is hingedly connected to the articulated mounting seat, and the other end is hingedly installed with a flipping telescopic member (801). The telescopic end of the flipping telescopic member (801) is hingedly connected to the front side of the lower end of the telescopic support (501); The flipping limit mechanism (7) includes a limit telescopic member (701), a limit connecting member (702), and a limit slider (703). A limit slide rail cooperating with the limit slider (703) is provided on the flipping support member (803). The limit slider (703) is slidably mounted on the limit slide rail. The limit telescopic member (701) is fixedly mounted on the flipping support member (803). The telescopic end of the limit telescopic member (701) is connected to the limit slider (703) through the limit connecting member (702) to drive the limit slider (703) to slide along the limit slide rail. The projections of the flipping telescopic member (801) and the flipping adjustment member (802) on the flipping support member (803) are within the stroke of the limit slider (703).

8. The trash can recycling device according to claim 7, wherein, The lifting mechanism (6) includes a pad rail support member (601), a lifting pad rail (602), a lifting tray (603), a lifting gasket (604), a secondary lifting telescopic member (605), a primary lifting connecting member (606), a lifting connecting member (607), a primary lifting telescopic member (608), a lifting bracket (609), a secondary lifting connecting member (610), a lifting connecting bracket (611), and a lifting fixing member (612). There are two lifting pad rails (602) in total, and they are symmetrically arranged. The pad rail support member (601) is fixed to one side of the lifting pad rail (602). A lifting bracket (609) is fixedly mounted at the lower end of each lifting pad rail (602). Two primary lifting telescopic members (608) are symmetrically and fixedly mounted on the lifting bracket (609). The lifting connecting member (607) is located between the two primary lifting telescopic members (608). The telescopic ends of the two primary lifting telescopic members (608) are respectively connected to both sides of the upper end of the lifting connecting member (607) through the corresponding primary lifting connecting members (606). There are two secondary lifting telescopic members (605) in total, and they are respectively located within the two lifting connecting members (607). The secondary lifting telescopic members (605) are arranged in a direction opposite to that of the primary lifting telescopic members (608). The lifting tray (603) is located between the two secondary lifting telescopic members (605). The two secondary lifting telescopic members (605) are respectively fixedly mounted on both sides of the upper end of the lifting tray (603) through the corresponding lifting gaskets (604). The telescopic end of the secondary lifting telescopic member (605) is fixedly connected to the lower end of the lifting connecting member (607) through the secondary lifting connecting member (610). The lifting connecting bracket (611) is fixed to the lower end of the lifting tray (603). The lifting connecting bracket (611) is connected to the flipping support member (803) through the lifting fixing member (612).

9. The trash can recycling device according to claim 8, wherein, The invention also comprises a sliding guide mechanism (9) and a jerk mechanism (10), wherein the sliding guide mechanism (9) comprises two in total and is symmetrically arranged, wherein the sliding guide mechanism (9) comprises a slide rail connector (901), a jerk disengagement member (902), a connecting pin (903) and a guide rail (904), wherein the setting direction of the guide rail (904) is parallel to the moving direction of the lifting mechanism (6), the lower end of the guide rail (904) is fixedly connected to the lifting bracket (609), and cylindrical sliders (905) are fixedly installed at both ends of one side of the slide rail connector (901), and the slide rail connector (901) is slidably installed on the guide rail through the cylindrical slider (905). Towards the slide rail (904), the lower end of the other side of the slide rail connecting member (901) is hinged to the lower end of the jerk and detach member (902), and the lower end of the jerk and detach member (902) is hinged to the rear side of the lower end of the telescopic support member (501), a limiting protrusion is provided on the upper end of the jerk and detach member (902) facing the slide rail connecting member (901), a connecting pin (903) is fixed to the other side of the upper end of the jerk and detach member (902), a receiving groove (906) matched with the limiting protrusion is provided on the slide rail connecting member (901), and the jerk and detach member (902) is hingedly connected to the rear side of the upper end of the telescopic support member (501) through the connecting pin (903); There are two jerk mechanisms (10) in total and they are symmetrically arranged. The jerk mechanisms (10) include a jerk limit inductive proximity sensor detection switch (1001), a jerk support member (1002) and a jerk slide rail (1003). The jerk slide rail (1003) is an arc-shaped slide rail. The jerk slide rail (1003) is fixed to the top of the guide slide rail (904), and the lower end of the track of the jerk slide rail (1003) is connected to the upper end of the track of the guide slide rail (904). The top end of the track of the jerk slide rail (1003) is equipped with a jerk limit inductive proximity sensor detection switch (1001). The jerk support member (1002) is fixed to the side of the jerk slide rail (1003) away from the track.

10. A garbage truck based on the garbage recycling device according to any one of claims 1-9, comprising a carriage (11) and a vehicle body (12), wherein the carriage (11) is installed on the vehicle body (12), and the carriage (11) has an upward opening, and is characterized in that, The garbage bin recovery device is located on one side of the vehicle box (11), and the lifting mechanism (6) is installed on the vehicle box (11).

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