Sure, provided that you are still entitled to a warranty. Search for the service part you need. Check the box that says "I want to claim warranty for this replacement part." on the product detail page, and fill out the form that appears truthfully. Then click on "Next" to add the item to your shopping cart under warranty.
Do you need a part for your Touch Bin lid, or a new Touch Bin lid? Then click on "Help with service & warranty" and go through the Touch Bin assistant (up to 8 questions) to claim a warranty for the part or lid.