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EP3115317B1 - Procédé et appareil pour la manipulation et le vidage de conteneurs á déchets - Google Patents

Procédé et appareil pour la manipulation et le vidage de conteneurs á déchets Download PDF

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Publication number
EP3115317B1
EP3115317B1 EP15380026.3A EP15380026A EP3115317B1 EP 3115317 B1 EP3115317 B1 EP 3115317B1 EP 15380026 A EP15380026 A EP 15380026A EP 3115317 B1 EP3115317 B1 EP 3115317B1
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EP
European Patent Office
Prior art keywords
gate
operator
container
type
gate operator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15380026.3A
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German (de)
English (en)
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EP3115317A1 (fr
Inventor
Albert Padullés Omedes
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Palvi SL
Original Assignee
Palvi SL
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Palvi SL filed Critical Palvi SL
Priority to ES15380026.3T priority Critical patent/ES2659868T3/es
Priority to EP15380026.3A priority patent/EP3115317B1/fr
Priority to TR2018/02393T priority patent/TR201802393T4/tr
Priority to PCT/IB2016/000901 priority patent/WO2017006163A1/fr
Publication of EP3115317A1 publication Critical patent/EP3115317A1/fr
Application granted granted Critical
Publication of EP3115317B1 publication Critical patent/EP3115317B1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F1/00—Refuse receptacles; Accessories therefor
    • B65F1/12—Refuse receptacles; Accessories therefor with devices facilitating emptying
    • B65F1/125—Features allowing the receptacle to be lifted and emptied by its bottom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F1/00—Refuse receptacles; Accessories therefor
    • B65F1/14—Other constructional features; Accessories
    • B65F1/1452—Lifting, hoisting, elevating mechanisms or the like for refuse receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/0203—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto with crane-like mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof

Definitions

  • the present invention relates to the field of devices for handling and emptying waste collection containers, and to methods for performing said operations, by means of a coupling head attached to a crane arm integrated in a waste collection vehicle, said coupling head allowing holding a container, lifting it and emptying it into said vehicle.
  • Devices for handling and emptying waste collection containers capable of being coupled to a handle of the container and capable of interacting with a gate operator of the container for causing the opening or closing of the gates of the container are known in the state of the art.
  • patent document DE29905551U1 describes a mechanism of this type, but in which the holding members are laterally fixed to the handle of the container with a fork configuration, which makes coupling thereof difficult and limits the capacities. Furthermore, the proposed solution is envisaged for vertically pulling on the gate operator of the container, but it would not be suitable for pushing said gate operator downwards.
  • Patent document EP1916218A1 also describes a similar mechanism which is not capable of adapting the holding members to different configurations.
  • US5014870A discloses a device and a method according to the preambles of claims 1 and 8, respectively.
  • the first and second holding members consist of moving hooks which allow gripping the handle and the gate operator, but it does not envisage that said moving hooks can be adapted to different handles or gate operators, or that said moving hooks can adopt a position in which they can act as a pushing stop for pushing the gate operator of the container.
  • Patent document EP1172308B1 which describes a device for handling and emptying containers is also known, but it lacks movable elements in the second holding member, which in this device is limited to a simple piston capable of pushing the gate operator. Therefore, this device is not capable of adapting to containers of another type which require the gate operator to be pulled upwards for operation.
  • None of the known prior art documents has sufficient adaptability to enable operating interchangeably with different types of containers provided with a handle and with a gate operator concentric to the handle, which is interchangeably operated by means of pulling or by means of pushing.
  • the present invention relates to a device for handling and emptying waste collection containers.
  • Containers of a first type and of a second type which are common in the sector of waste collection are surface or underground containers having lower gates mechanically connected to a gate operating element which allows operating the opening and closing of said gates.
  • Said gate operator is usually located in the upper half of the container in a position adjacent or concentric to a mushroom-shaped handle intended for allowing the gripping and lifting of the container.
  • Said function leads to the handle being typically located on an upper face of the container and in a position centered with its center of gravity. Therefore, the movement of the gate operator with respect to the rest of the container and the handle causes the opening or closing of the gates as a result of the mechanical connection between them.
  • the proposed device for handling and emptying waste collection containers is made according to claim 1. It comprises a coupling head which integrates a head structure and is attached to the distal end of crane arm integrated in a waste collection vehicle, said head structure bearing:
  • the mentioned first and second holding members can be, by way of example, any one of the following members, or another similar member, as will be obvious for a person skilled in the art:
  • the mentioned displacing mechanism is a mechanism envisaged for producing a vertical axial movement of the second holding member with respect to the first holding member.
  • This mechanism can adopt many different configurations, such as for example, a non-sliding and non-guided pantograph- or scissors-type mechanism, or it could also be a sliding mechanism which is moved in a guided path, such as for example, a nut and spindle mechanism or a piston mechanism.
  • This mechanism is operated by the third operating means which can be, by way of example, any one of the following mechanisms or another similar mechanism, as it would be obvious for a person skilled in the art: a motor, servomotor, solenoid, electromagnet, linear motor, piston, etc.
  • said operating means require an external power source and can be electrically or electronically controlled or can be controlled by means of hydraulic or pneumatic controls.
  • said coupling head integrates a first holding member which can grip a handle fixed on a container by means of the movement of its movable elements, for example, closing said first movable elements around said claw-like handle, providing a firm enough attachment to the container to allow lifting the entire container and its content, the load being supported by the
  • a second holding member also integrated in the coupling head, can interact with a gate operator, envisaged in a position concentric or adjacent to the handle of the container, by means of the movement of its second movable elements.
  • Said gate operator is mechanically linked to gates arranged in the lower part of the container, such that the operation of said gate operator causes the closing or opening thereof.
  • the mentioned mechanical link with the lower gates of the container is made by means of cables or chains although it can also be made by means of connected bars or straps forming kinematic chains.
  • the weight of the waste deposited inside the container is supported on the lower gates, and said load is transmitted through the mechanical link to the gate operator.
  • said loads can be transmitted in the form of an upward vertical load or a downward vertical load.
  • the second movable elements interacting with the gate operator are responsible for supporting said load, preventing the weight of the waste from causing the opening of the gates.
  • the second holding member is connected to a displacing mechanism moving it axially away or closer to the first holding member.
  • the second holding member interacts with the gate operator moving it or allowing its movement between the gate closing position and the gate opening position, causing the gates to open giving way to the weight of the waste accumulated thereon, or causing the gates to close.
  • the first and second configurations adapted to the gate operators of the first type and of the second type are different because the gate operators of the first and of the second type are also different from one another. They can differ in size and/or shape and/or position, and can also differ in the travel that they must make to cause the opening and closing of their respective gates. All these differences are differences that must be contemplated by the device for handling and emptying containers, adapting to same for correctly handling the container by means of the mentioned configurations.
  • the mentioned programmable control unit will be, by way of non-limiting example, a programmable logic controller, a computer, a printed circuit, or another similar device provided with a data input, a memory, computing capacity and a control order output, furthermore having an interface allowing a user to known and change the configuration of the programmable control unit.
  • said programmable control unit may be connected to a network of sensors that will provide it with precise information about the position of some or all the main elements making up the device for handling containers, as well as the position of the handle, the gate operator, and optionally also the rest of the container or its gates.
  • the programmable control unit determines if the container to be handled has a gate operator of the first type or of the second type, and proceeds to apply a first configuration envisaged for the correct handling of containers with gate operators of the first type, or a second configuration envisaged for the correct handling of containers with gate operators of the second type.
  • Said first and second configurations change operation parameters, such as for example, which position must be the relative position between the first and second holding members when they are coupled to the container, or regulating a higher or lower degree of closing of the first and second movable elements for adapting to different handle sizes and to different modes of interaction with the gate operator. It can also regulate which position is the gate opening position and which position is the closing position, etc.
  • This feature turns the proposed head into a head compatible with several container formats, allowing one and the same truck provided with this head to collect waste from different types of containers, by simply adapting its configuration, and as a result of the versatility allowed by its makeup.
  • the gate operators of a first type differ from the gate operators of a second type in that, in gate operators of the first type the weight of the waste accumulated inside the container, on the lower gates produces loads which are transmitted to the gate operator as a downward vertical load by means of the mechanical link thereof.
  • said load is transmitted to the gate operator in the form of an upward vertical load, due to the action of the mechanical link existing between the operator and the gates.
  • the gate operator of the first type must be gripped by means of the second movable elements or retained by means of pins or flanges of any type to prevent its downward movement, allowing the second movable elements to support the mentioned downward vertical loads.
  • said gate operator of the first type will have a type of flange at its end, such as a mushroom-shaped configuration, above a thinner neck, allowing the second movable elements to close around said neck, the flange being retained, preventing it from sliding downwards.
  • the gate operator of the second type of containers requires the second movable elements to be interposed in the upward path of the gate operator and to prevent its movement, performing the functions of a stop. Since said second movable elements are interposed in the mentioned upward path, the vertical movement of the second holding member allows said second movable elements to push the gate operator downwards. Therefore, the second movable elements can be sufficiently closed to at least partially block the travel that the gate operator of the container of the second type must make in order to go from the gate closing position to the gate opening position or vice versa, preventing the forward movement thereof, and they are furthermore envisaged for supporting said upward load and transmitting the loads to the head.
  • the gate closing position is the position in which the first and second holding members are spaced apart and the second movable elements support a downward vertical load
  • the gate opening position is the position in which said first and second holding members are adjacent.
  • the gate opening position is the position in which the first and second holding members are spaced apart
  • the gate closing position is the position in which the first and second holding members are adjacent and the second movable elements support an upward vertical load.
  • the second holding member in order to handle the operator of the first type the second holding member must grip the gate operator and pull on it, partially removing it from the container to close the gates, whereas on the contrary, with the gate operators of the second type the second holding member must push the gate operator downwards, keeping it inside the container, to cause the closing of said gates.
  • the proposed coupling head allows interchangeably performing both operations, both for the first and for the second type of gate operators, therefore allowing said coupling head to be versatile and to be able to handle containers of different type.
  • the first movable elements and/or the second movable elements are integrated in a jaw chuck mechanism grouping said movable elements in a radial arrangement around a hollow center, and coupled to an annular mechanism arranged around said hollow center allowing the coordinated radial movement of said movable elements.
  • the displacing mechanism moving the second holding member is operated by third operating means, and consists of two identical Roberts swinging mechanisms having coordinated movement with respect to one another by means of a connecting bar, each Roberts mechanism being formed by:
  • the Roberts mechanism is known in the scientific literature as it is a swinging mechanism providing a rectilinear movement in a part of travel thereof. Said movement actually includes a slight deviation with respect to a completely rectilinear movement, but it is considered an insignificant deviation which is within the range of mechanical device tolerances, for example, of tenths of millimeter.
  • the two Roberts mechanisms are located on the side of the coupling head, superposed such that the first shaft, the third shaft, and the fifth shaft of both Roberts mechanisms are coplanar to one another (except the mentioned insignificant deviation) with respect to a plane parallel to the direction of the axial movement of the second holding member.
  • Said two Roberts mechanisms are operated by means of third operating means, which can be several types, for example, it is contemplated that said third operating means are one or more hydraulic pistons or linear motors, pushing or pulling on a first or second pair of rockers, for example, causing the swinging thereof and thereby the linear (or almost linear) movement of the second holding member.
  • third operating means are one or more hydraulic pistons or linear motors, pushing or pulling on a first or second pair of rockers, for example, causing the swinging thereof and thereby the linear (or almost linear) movement of the second holding member.
  • This mechanism has the advantage of being able to be operated very quickly and being able to apply great forces as a result of the lever effect which can be achieved depending on the position in which the mentioned pistons or linear motors are attached to the mechanism, the rockers being able to act as lever arms.
  • Another additional advantage is that said mechanism is located on one side. This allows, according to another alternative embodiment, also proposing that the first holding member and the second holding member are each configured around a hollow center intended for the insertion of the handle and the gate operator, the hollow centers of both holding members being aligned.
  • a camera and/or visual sensor is integrated in the coupling head and envisaged for receiving visual information through said hollow center, which allows detecting the relative position of the handle and the gate operator with respect to the head.
  • Said camera will be connected to the programmable control unit and will transmit the obtained thereto, thereby allowing, by means of any type of processing of the obtained images, the programmable control unit to be capable of detecting the relative position and of sending automatic control orders to the different operators which allow moving the head until it is coupled to the handle of the container.
  • the present invention also proposes a method according to claim 8 for handling and emptying waste collection containers by means of a coupling head which integrates a head structure and is attached to the distal end of a crane arm integrated in a waste collection vehicle, said head structure bearing the same elements described above in relation to the device, namely:
  • the operating means controlling the holding members and the displacing mechanism are controlled by means of a programmable control unit, as described above in relation to the device.
  • Said programmable control unit can modify the operation parameters of the head, changing, for example, the position in which the interaction between the second member and the gate operator occurs, or the relative position between the first and second members determining the container opening and closing positions, by means of applying a first configuration or a second configuration.
  • Whether the gate operator is of the first type or of the second type can be automatically determined by means of the information obtained by means of sensors included in the head and after the analysis thereof by means of the programmable control unit, or it can be indicated by an operator by means of an interface of the programmable control unit.
  • the gate operator of the first type is that which transmits downward vertical loads caused by the stored waste on the lower gates of the container and transmitted through the mechanical link of the gates with the gate operator of the first type
  • the gate operator of the second type is that which transmits upward vertical loads caused by the stored waste on the lower gates of the container and transmitted to the gate operator of the second type through the mechanical link between them.
  • the gate opening position is the position in which the first and second holding members are adjacent
  • the gate closing position is the position in which the first and second holding members are spaced apart and the gate operator of the first type is surrounded and held by the second movable elements supporting a downward vertical load produced by the stored waste on the gates of the container.
  • the gate opening position is the position in which the first and second holding members are spaced apart
  • the gate closing position is the position in which the first and second holding members are adjacent and the second movable elements are superposed and in geometric interference with the gate operator of the second type, performing the functions of a stop and preventing its vertical movement, supporting an upward vertical load produced by the stored waste on the gates of the container.
  • first and second configurations differ in the length of travel of the second holding member between the gate opening and closing positions, and/or in the opening left by the first movable elements in the handle gripping position, and/or in the opening left by the second movable elements in the position of interaction with the gate operator.
  • a camera and/or visual sensor is integrated in the coupling head and is envisaged for receiving visual information through a central hole envisaged in the first and second holding members, and said programmable control unit uses said visual information to guide the coupling head to the handle and the gate operator and/or to determine if the gate operator is of the first type or of the second type.
  • the present invention relates to a device for handling and emptying waste collection containers made up of a coupling head 40 which integrates a head structure 41 and is attached to the distal end of a crane arm of a waste collection vehicle.
  • Said head structure 41 bears a first holding member 10 responsible for fixing to a handle 1 of a container 3, a second holding member 20 responsible for interacting with a gate operator 2 of a container 3, and a displacing mechanism 30 responsible for moving the second holding member 20 with respect to the first holding member 10, likewise achieving a relative movement of the gate operator 2 with respect to the handle 1, all of them being attached to the mentioned head.
  • the present device is envisaged for handling containers 3 having gates on its lower face, filling openings in its upper half, a handle 1 firmly attached to the container 3 on its upper face, which allows holding the entire container 3 and its waste load through said handle 1, and a gate operator 2 arranged in a position adjacent or concentric to said handle 1, which is mechanically linked to said gates, for example, by means of an articulated bar mechanism or a cable and pulley mechanism.
  • Said mechanical link allows the vertical axial movement of the gate operator 2 to cause the opening and closing of said gates and to cause at least a part of the weight of the waste deposited on the lower gates of the container 3 to be transmitted through the mentioned mechanical link to the gate operator 2 while lifting the container.
  • These transmitted loads must be supported by the second holding member 20 interacting with the gate operator 2, in order to keep the gates closed.
  • the first holding member 10 of the coupling head 40 has first movable elements 11 operated by means of first operating means 50 which allow moving said first movable elements between the handle gripping and handle release positions.
  • said movable elements are jaws of a motor-operated jaw chuck.
  • the first holding member 10 is thereby circular and has a central opening in which the handle 1 is inserted, after which the first operating means 50 are operated, causing the radial and coordinated closing of the jaws around the mentioned handle, which will typically have a mushroom shape, the handle therefore being retained by said jaws which can support the downward vertical load produced by the weight of the container and its load.
  • a jaw chuck mechanism is typically operated by means of rotating a chuck provided with a helical thread on one of its faces interacting with a toothed area envisaged in each of the jaws.
  • said chuck has a cam and the jaws have a cam follower. This can allow the closing and opening of the jaws to be achieved by means of a smaller angle of rotation of the chuck, speeding up the process, in addition to allowing making the manufacture less expensive and allowing, depending on the geometry of the cam, with a constant rotational speed of the chuck, obtaining an inconstant jaw closing/opening speed, for example, quicker at the beginning and slower at the end.
  • the second holding member 20 has second movable elements 21 operated by means of second operating means 51, and which in the present embodiment are also jaws of a jaw chuck operated by means of a motor, which are radially arranged around a central hole in which the gate operator 2 can be inserted.
  • the central hole of the first and second holding members 10 and 20 are concentric, both holding members 10 and 20 being aligned and superposed.
  • the second holding member 20 is attached to the head structure 41 by means of the displacing mechanism 30 which, according to the present embodiment, is made up of a non-sliding mechanism consisting of two identical Roberts swinging mechanisms 31 having coordinated movement with respect to one another by means of a connecting bar 32, each Roberts mechanism 31 being formed by:
  • the third shaft E3 of a Roberts mechanism coincides with the first shaft E1 of the other Roberts mechanism.
  • the Roberts mechanism 31 is known in the scientific literature as it is a swinging mechanism providing a rectilinear movement in a part of travel thereof. Said movement actually includes a slight deviation with respect to a completely rectilinear movement, but it is considered an insignificant deviation which is within the range of mechanical device tolerances, for example, of tenths of millimeter.
  • the two Roberts mechanisms 31 are located on the side of the coupling head 40, superposed such that the first shaft E1, the third shaft E3, and the fifth shaft E5 of both Roberts mechanisms 31 are coplanar with respect to one another (except the mentioned insignificant deviation) and with a plane parallel to the direction of the axial movement of the second holding member 20.
  • said two Roberts mechanisms 31 are operated by means of third operating means 52, which in this case, it is proposed that they are two hydraulic pistons 36, each operating one of the two Roberts mechanisms 31 and with an end attached to the head structure 41 and another end attached to a central portion of the first pair of rockers 33.
  • This displacing mechanism 30 has the advantage of being able to be operated very quickly and being able to apply great forces as a result of the lever effect which can be achieved depending on the position in which the mentioned hydraulic pistons 36 are attached to the Roberts mechanism 31, the rockers 33 and 34 being able to act as lever arms.
  • the first, second and third operating means 50, 51 and 52 are preferably controlled by means of a programmable control unit (not shown) made up of a programmable logic controller and receiving information from several sensors envisaged in the device which allow controlling the position of the main elements of the invention, as well as the position of the handle 1 and the gate operator 2, at all times.
  • a programmable control unit (not shown) made up of a programmable logic controller and receiving information from several sensors envisaged in the device which allow controlling the position of the main elements of the invention, as well as the position of the handle 1 and the gate operator 2, at all times.
  • Said programmable control unit determines if the gate operator to be handled 2 is of a first type 2a or of a second type 2b by means of the information received from the sensors, by means of communication with the container or by means of information entered by an operator.
  • the type of gate operator can be detected, for example, by means of detecting RFID tags integrated in the container, by means of detecting the size or position of some of the elements making up the container to be handled, either by means of contact sensors or by means of optical sensors.
  • the work will communicate said information to the programmable control unit by means of an interface, such as a touch screen, a push-button, a configuration switch, etc.
  • the worker will preferably be the collection vehicle driver himself, and the interface will be arranged inside the driver's cab.
  • the programmable control unit After determining the type of gate operator, the programmable control unit implements a first configuration or a second configuration, or even other additional configurations, each of said control configurations determining the handle gripping and release positions, the gate operator interaction or release positions, the gate opening and closing positions, among others.
  • the operating means 50, 51 and 52 By means of controlling the operating means 50, 51 and 52 through the programmable control unit depending on the different configurations, they allow handling containers of different type with handles of different size and with gate operators that require a different movement to cause the opening and closing of the gates of the container 3.
  • the head will implement different configurations adapted to different gate operators and to different handles, wherein each configuration will modify the predetermined operating positions, which thereby allows adapting to the operating requirements of each type of gate operator and handle.
  • the first configuration is adapted for handling gate operators of a first type which project from the handle and have a flange at its end, a thin neck being arranged between the flange and the handle, and in which the weight of the waste accumulated inside the container rests on the lower gates of the container and is transmitted through the mentioned mechanical link to the gate operator of the first type, transmitting a downward vertical load thereto.
  • the gate opening position will be the position in which it is in the lower point of its vertical travel, the mentioned flange being close to and superposed on the handle 1. That will also be the resting position of the gate operator of the first type 2a, the container 3 being supported on the ground, and the opening of the lower gates therefore being prevented as they are supported on said ground.
  • the gate operator of the first type 2a is in the gate opening position, the gates will remain closed, which means that the mechanical link between the gate operator of the first type 2a and the gates must allow that position, for example, by integrating cables or chains that can stay loose in that resting position.
  • the gate closing position of the gate operator of the first type 2a will be the position in which the flange of the gate operator of the first type 2a is arranged at a predetermined distance from the handle 1 greater than the distance existing in the gate opening position, in the upper limit of its vertical travel.
  • the programmable control unit can handle the container 3 by regulating the distance between the first and second holding members 10 and 20, both for determining the gate closing and gate opening positions, and also by regulating the closing of the first and second movable elements 11 and 21 for adapting to the sizes of the mentioned handle 1 and the gate operator of the first type 2a.
  • the second movable elements 21 will be closed around the neck of the gate operator of the first type 2a located below the flange, said flange being retained preventing its vertical downward movement, and therefore allowing the transmission of downward vertical loads between the gate operator of the first type 2a and the second movable elements 21.
  • the second configuration will be adapted for handling gate operators of the second type 2b having a rod shape inserted into the handle, allowing its vertical guided movement towards the outside of the container. Said gate operator of the second type 2b will be driven upwards due to the forces transmitted through the mechanical link with the lower gates of the container 3, caused by the weight of the stored waste on said closed gates.
  • the gate closing position will be the position in which said operator is completely inserted into the handle 1, without projecting above same, whereas the gate opening position will be the position in which said gate operator of the second type 2b projects a predetermined distance from the handle 1.
  • the programmable control unit can handle the container 3 by regulating the distance between the first and second holding members 10 and 20, both for determining the gate closing and gate opening positions, and also by regulating the closing of the first and second movable elements 11 and 21 for adapting to the sizes of the mentioned handle 1 and the gate operator of the second type 2b.
  • the second movable elements 21 will be closed, the second member 20 being located above the gate operator of the second type 2a, such that the mentioned second movable elements 21 will not cause the gripping of the gate operator of the second type 2b, but rather they will be closed interfering in the movement range thereof by coming into geometric interference with them and preventing and regulating the upward vertical movement thereof in relation to the relative position between the first and second holding members 10 and 20.
  • This allows the vertical movement of the second holding member 20 with respect to the first holding member 10 driven by the displacing mechanism 30, allows the movement of the gate operator of the second type 2b between the gate closing and opening positions.
  • the present invention also relates to a method for handling containers implementing by means of the device described above the following steps:
  • determining whether the gate operator is of a first type 2a or of a second type 2b is carried out by means of communication between the head and the container, for example, by means of RFID technology or by means of the optical reading of signals included on the outside of the container and detected by means of an optical sensor, such as for example, a camera, or by means of a container or handle or gate operator shape optical recognition system, a set of sensors integrated in the head which allow, as the interaction thereof with the handle and/or with the gate operator starts, detecting the relative position or size thereof, therefore allowing identification, is also proposed. All of these proposed methods involves transmitting information relating to the container to be handled, received by sensors, to the programmable control unit so that it evaluates the received information and determines the type of gate operator 2.
  • said determination is performed by means of an operator identifying the container and informing to the programmable control unit through an interface.
  • the method can contemplate that the gate operator of the first type 2a transmits downward vertical loads caused by the stored waste on the lower gates of the container and transmitted through the mechanical link of the gates with the gate operator of the first type 2a and that the gate operator of the second type 2b transmits upward vertical loads caused by the stored waste on the lower gates of the container and transmitted to the gate operator of the second type 2b through the mechanical link between them.
  • the gate opening and closing positions of the gate operator 2 will be different depending on whether it is a gate operator of the first type 2a or of the second type 2b.
  • the gate opening position is the position in which the first and second holding members 10 and 20 are adjacent
  • the gate closing position is the position in which the first and second holding members 10 and 20 are spaced apart and the gate operator of the first type 2a is surrounded and held by the second movable elements 21 supporting a downward vertical load produced by the stored waste on the gates of the container
  • the gate opening position is the position in which the first and second holding members 10 and 20 are spaced apart
  • the gate closing position is the position in which the first and second holding members 10 and 20 are adjacent and the second movable elements 21 are superposed and in geometric interference with the gate operator of the second type 2b, performing the functions of a stop and preventing its vertical movement, supporting an upward vertical load produced by the stored waste on the gates of the container.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Manipulator (AREA)
  • Loading Or Unloading Of Vehicles (AREA)

Claims (13)

  1. Un dispositif pour manier et vider des conteneurs de collecte de déchets, qui comprend une tête d'attelage (40) qui comporte une structure de tête (41) agencée pour être unie à l'extrémité distale d'une flèche de grue intégrée dans un véhicule de collecte de déchets, cette structure de tête (41) portant :
    • un premier organe de blocage (10) ayant des premiers éléments mobiles (11) actionnés à travers des premiers moyens d'actionnement (50), ces premiers éléments mobiles (11) pouvant se déplacer entre une position de préhension de la poignée et une position de déverrouillage de la poignée pour être raccordée à un poignée en forme de champignon (1) fixée sur une surface extérieure d'un conteneur (3) levant ce conteneur (3) par le biais de cette poignée (1) ;
    • un deuxième organe de blocage (20) ayant des deuxièmes éléments mobiles (21) agencés pour être actionnés par des deuxièmes moyens d'actionnement (51), ces deuxièmes éléments mobiles (21) pouvant être déplacés entre une position de déverrouillage par un système et une position d'interaction avec le système et permettant à ces éléments mobiles (21) d'entrer en interférence géométrique avec le système de porte (2) en empêchant son mouvement libre, le premier élément de blocage (10) étant adapté pour être rattaché à la poignée (1) et les deuxièmes éléments de blocage (20) étant adaptés pour être agencés dans la position d'interaction, et le système de porte (2) étant agencé dans le conteneur dans une position adjacente et/ou concentrique à cette poignée (1) et mécaniquement relié aux portes inférieures du conteneur pour contrôler leur ouverture et fermeture ;
    • un mécanisme de déplacement (30) agencé pour être actionné par un troisième moyen d'actionnement (52) destiné à déplacer axialement ce deuxième organe de blocage (20) par rapport à ce premier organe de blocage (10) entre les positions de fermeture de porte et d'ouverture de porte, au moyen du mouvement relatif axial entre la poignée (1) et le système de porte (2) de ce conteneur (3) relié aux premier et deuxième organes de blocage (10 et 20), entraînant la fermeture et/ou l'ouverture de ces portes inférieures du conteneur (3) mécaniquement reliées au système de porte (2) ;
    dans lequel
    • les deuxièmes éléments mobiles (21) peuvent être déplacés entre la position de déverrouillage par le système et la position d'interaction avec le système indépendamment de la position relative entre les premier et deuxième organes de blocage (10, 20) ;
    caractérisé en ce que
    • les premier, deuxième et troisième moyens d'actionnement (50, 51 et 52) sont contrôlés au moyen d'une unité de contrôle programmable pourvue d'au moins une première et deuxième configuration de maniement, qui sont adaptées, respectivement, pour manier un conteneur contenant un système de porte d'un premier type (2a) et pour manier un conteneur contenant un système de porte d'un deuxième type (2b), les première et deuxième configurations différant au moins dans les positions de préhension et de déverrouillage de la poignée prédéterminées, et/ou dans les positions de déverrouillage par le système et d'interaction avec lui et/ou dans les positions d'ouverture et de fermeture de la porte ; et en ce que
    • l'unité de contrôle programmable est préparée pour mettre en place la première configuration ou la deuxième configuration selon les informations obtenues au moyen de capteurs ou au moyen d'informations introduites par un système à travers une interface ; dans lequel
    • les deuxièmes éléments mobiles (21), dans la position d'interaction avec un système de porte du premier type (2a) d'un conteneur, entoure et sécurise ce système de porte du premier type (2a) et ils sont agencés pour supporter des charges verticales vers le bas que produisent les déchets stockés sur les portes du conteneur et transmises par le système de porte du premier type (2a) ; et
    • les deuxièmes éléments mobiles (21), dans la position d'interaction avec le système de porte du deuxième type (2b) d'un conteneur, sont superposés par rapport au système de porte du deuxième type (2b) en faisant l'office de butée empêchant son mouvement vertical, et ils sont agencés pour supporter des charges verticales vers le haut que produisent les déchets stockés sur les portes du conteneur et transmises par le système de porte du deuxième type (2b) ;
    • le mécanisme de déplacement (30) est agencé pour supporter et transmettre à la flèche de grue les charges verticales vers le haut et vers le bas.
  2. Le dispositif conformément à la revendication 1, caractérisé en ce que, en interaction avec un système de porte d'un premier type (2a) et en appliquant cette première configuration, la position d'ouverture de porte est la position dans laquelle les premier et deuxième organes de blocage (10 et 20) sont adjacents, et la position de fermeture de porte est la position dans laquelle les premier et deuxième organes de blocage (10 et 20) sont séparés et le système de porte est entouré et bloqué par les deuxième éléments mobiles (21) supportant une charge verticale vers le bas produite par les déchets stockés sur les portes du conteneur.
  3. Le dispositif conformément à la revendication 1, caractérisé en ce que, en interaction avec un système de porte du deuxième type (2b) et en appliquant cette deuxième configuration, la position d'ouverture de porte est la position dans laquelle les premier et deuxième organes de blocage (10 et 20) sont séparés et la position de fermeture de porte est la position dans laquelle les premier et deuxième organes de blocage (10 et 20) sont adjacents et les deuxièmes éléments mobiles (21) sont superposés et en interférence géométrique avec le système de porte du deuxième type (2b), en faisant l'office de butée et en empêchant son mouvement vertical, en supportant une charge verticale vers le haut produite par les déchets stockés sur les portes du conteneur.
  4. Le dispositif conformément à une quelconque des revendications 1 à 3, caractérisé en ce que les première et deuxième configurations diffèrent en longueur du parcours du deuxième organe de blocage (20) entre les positions d'ouverture et de fermeture de porte, et/ou dans l'ouverture laissée par les premiers éléments mobiles (11) dans la position de préhension de la poignée, et/ou dans l'ouverture laissée par les deuxièmes éléments mobiles (21) dans la position d'interaction avec le système de porte.
  5. Le dispositif conformément à une quelconque des revendications précédentes, caractérisé en ce que les premiers éléments mobiles (11) et/ou les deuxièmes éléments mobiles (21) sont intégrés dans un mécanisme de mandrin à mordaches groupant ces éléments mobiles (11,21) en agencement radial autour d'un centre creux et couplé à un mécanisme annulaire agencé autour de ce centre creux permettant le mouvement radial coordonné de ces éléments mobiles (11, 21).
  6. Le dispositif conformément à une quelconque des revendications précédentes, caractérisé en ce que le mécanisme de déplacement (30), responsable de mouvoir le deuxième organe de blocage (20) consiste en deux mécanismes pivotants Roberts identiques (31) ayant un mouvement coordonné par rapport à l'autre au moyen d'une barre de raccordement, chaque mécanisme Roberts étant formé par :
    • une première paire de balanciers (33) et une deuxième paire de balanciers (34) ayant tous la même longueur ;
    • la première paire de balanciers étant articulée par rapport à la structure de tête (41) à une première extrémité autour d'un premier axe (E1) et articulée par rapport à un corps basculant (35) à une deuxième extrémité autour d'un deuxième axe (E2) ;
    • la deuxième paire de balanciers étant articulée par rapport à la structure de tête à une première extrémité autour d'un troisième axe (E3) et articulée par rapport au corps basculant à une deuxième extrémité autour d'un quatrième axe (E4) ;
    • le corps basculant ayant une extrémité en saillie articulée par rapport au deuxième organe de blocage autour d'un cinquième axe (E5) ;
    • tous les axes étant parallèles entre eux et les écarts entre les premier et deuxième axes, entre les troisième et quatrième axes, entre les quatrième et cinquième axes et entre les deuxième et cinquième axes étant les mêmes ;
    ces deux mécanismes de déplacement coordonnés Roberts déterminant un mouvement rectiligne considérablement axial du deuxième organe de blocage par rapport au premier organe de blocage.
  7. Le dispositif conformément à une quelconque des revendications précédentes, caractérisé en ce que le premier organe de blocage (10) et le deuxième organe de blocage (20) sont configurés chacun autour d'un centre creux destiné à y insérer la poignée (1) et le système de porte (2), les deux centres creux étant alignés.
  8. Une méthode pour manier et vider des conteneurs de collecte de déchets au moyen d'une tête d'attelage qui intègre une structure de tête (41) et est rattachée à l'extrémité distale d'une flèche de grue intégrée dans un véhicule de collecte de déchets, cette structure de tête (41) portant :
    • un premier organe de blocage (10) ayant des premiers éléments mobiles (11) actionnés par des premiers moyens d'actionnement (50) pouvant être déplacés entre une position de préhension de poignée et une position de déverrouillage de la poignée pour être raccordé à une poignée en forme de champignon (1) fixée sur une surface extérieure d'un conteneur (3) levant ce conteneur (3) par le biais de cette poignée (1) ;
    • un deuxième organe de blocage (20) ayant des deuxièmes éléments mobiles (21) actionnés par des deuxièmes moyens d'actionnement (51) pouvant être déplacés entre une position de déverrouillage par le système et une position d'interaction avec le système permettant à ces éléments mobiles (21) d'entrer en interférence géométrique avec un système de porte (2) empêchant son mouvement libre, le premier organe de blocage (10) étant rattaché à la poignée (1) et les deuxièmes organes de blocage (20) sont agencés dans la position d'interaction, le système de porte (2) étant agencé dans le conteneur dans une position adjacente et/ou concentrique à cette poignée (1) et étant mécaniquement relié aux portes inférieures du conteneur pour contrôler leur ouverture et fermeture ;
    • un mécanisme de déplacement (30) actionné par des troisièmes moyens d'actionnement (52), destiné à déplacer axialement ce deuxième organe de blocage (20) par rapport à ce premier organe de blocage (10) entre les positions de fermeture de porte et d'ouverture de porte, au moyen du mouvement axial relatif résultant entre la poignée (1) et le système de porte (2) de ce conteneur (3) relié aux premier et deuxième organes de blocage (10 et 20), entraînant la fermeture et/ou l'ouverture de ces portes inférieures du conteneur (3) mécaniquement reliées au système de porte (2) ;
    dans lequel les deuxièmes éléments mobiles (21) peuvent être déplacés entre la position de déverrouillage par le système et la position d'interaction avec le système indépendamment de la position relative entre les premier et deuxième organes de blocage (10, 20) ;
    caractérisé en ce que
    • les premier, deuxième et troisième moyens d'actionnement (50, 51 et 52) sont contrôlés au moyen d'une unité de contrôle programmable pourvue d'au moins une première et deuxième configurations de maniement, qui sont adaptées, respectivement, pour manier un conteneur contenant un système de porte d'un premier type (2a) et pour manier un conteneur contenant un système de porte d'un deuxième type (2b), les première et deuxième configurations différant au moins dans les positions de préhension et de déverrouillage de la poignée prédéterminées, et/ou dans les positions de déverrouillage par le système et d'interaction avec celui-ci et/ou dans les positions d'ouverture et de fermeture de la porte ; et en ce que
    l'unité de contrôle programmable met en place les étapes suivantes :
    • déterminer si le conteneur à manier intègre un système de porte d'un premier type (2a) ou un système de porte du deuxième type (2b) basé sur les informations obtenues au moyen de capteurs ou au moyen d'informations introduites par un système à travers une interface ;
    • appliquer une première configuration si le conteneur à manier (3) intègre un système de porte du premier type (2a) ou une deuxième configuration de maniement si le conteneur à manier (3) intègre un système de porte du deuxième type (2b), au moyen d'une unité de contrôle programmable ;
    dans lequel la première configuration et la deuxième configuration modifient une ou plusieurs des positions suivantes : les positions de préhension et de déverrouillage de la poignée et/ou les positions d'interaction du système de porte et de déverrouillage et/ou les positions d'ouverture et de fermeture des portes ; et dans lequel
    le système de porte du premier type (2a) transmet des charges verticales vers le bas causées par les déchets stockés sur les portes inférieures du conteneur et transmises à travers la liaison mécanique des portes avec le système de porte du premier type (2a) ; et le système de porte du deuxième type (2b) transmet des charges verticales vers le haut causées par les déchets stockés sur les portes inférieures du conteneur et transmises au système de porte du deuxième type (2b) à travers la liaison mécanique entre elles.
  9. La méthode conformément à la revendication 8 caractérisée en ce qu'elle comporte les étapes suivantes :
    • placer la tête d'attelage (40) dans une position telle que le premier organe de blocage (10) est situé adjacent à, aligné avec et au moins en partie autour de la poignée (1) d'un conteneur (3), le deuxième organe de blocage (20) étant adjacent et aligné au système de porte (2) ;
    • actionner le mouvement des premiers éléments mobiles (11) à la position de préhension de la poignée, conformément à la première ou la deuxième configuration, en fixant solidement la poignée (1) ;
    • actionner le mouvement des deuxièmes éléments mobiles (21) à la position d'interaction avec le système, conformément à la première ou deuxième configuration ;
    • déplacer le deuxième organe de blocage (20) vers la porte en position de fermeture au moyen du mécanisme de déplacement (30) conformément à la première ou deuxième configuration, permettant aux deuxièmes éléments mobiles (21) de supporter une charge verticale produite par le poids des déchets situés sur les portes du conteneur et transmises à travers le système de porte (2) ;
    • élever le conteneur en le plaçant de sorte qu'il soit superposé à la région de décharge et actionner le mécanisme de déplacement (30) jusqu'à placer le deuxième organe de blocage (20) dans la position d'ouverture de porte, conformément à la première ou deuxième configuration, en entraînant le mouvement du deuxième organe de blocage (20) et le système de porte (2) entraînant l'ouverture des portes mécaniquement reliées à ce système de porte (2) ;
    • actionner à nouveau le mécanisme de déplacement (30) jusqu'à placer le deuxième organe de blocage (20) dans la position de fermeture de porte conformément à la première ou deuxième configuration, entraînant la fermeture de ces portes, replaçant le conteneur (3) à sa place d'origine et déverrouillant les premier et deuxième organes de blocage (10,20).
  10. La méthode conformément à la revendication 8 ou 9, caractérisée en ce que, en interaction avec un système de porte d'un premier type (2a) et en appliquant cette première configuration, la position d'ouverture de porte est la position dans laquelle les premier et deuxième organes de blocage (10,20) sont adjacents et la position de fermeture de la porte est la position dans laquelle les premier et deuxième organes de blocage (10 et 20) sont écartés et le système de porte du premier type (2a) est entouré et bloqué par les deuxièmes éléments mobiles (21) supportant une charge verticale vers le bas produite par les déchets stockés sur les portes du conteneur.
  11. La méthode conformément à la revendication 8 ou 9, caractérisée en ce que, en interaction avec un système de porte d'un deuxième type (2b) et en appliquant cette deuxième configuration, la position d'ouverture de la porte est la position dans laquelle les premier et deuxième organes de blocages (10, 20) sont écartés et la position de fermeture de la porte est la position dans laquelle les premier et deuxième organes de blocage (10, 20) sont adjacents et les deuxièmes éléments mobiles (21) sont superposés et en interférence géométrique avec le système de porte du deuxième type (2b), faisant l'office de butée et empêchant son mouvement vertical , supportant une charge verticale vers le haut produite par les déchets stockés sur les portes du conteneur.
  12. La méthode conformément à une quelconque des revendications 8 à 11, caractérisée en ce que les première et deuxième configurations diffèrent en longueur de parcours du deuxième organe de blocage (20) entre les positions d'ouverture et de fermeture de porte, et/ou dans l'ouverture laissée par les premiers éléments mobiles (11) dans la position de préhension de la poignée, et/ou dans l'ouverture laissée par les deuxièmes éléments mobiles (21) dans la position d'interaction avec le système de porte.
  13. La méthode conformément à une quelconque des revendications précédentes 8 à 12, caractérisée en ce qu'une caméra et/ou un capteur visuel est intégré dans la tête d'attelage (40) et destiné à recevoir des informations visuelles à travers un trou central prévu dans les premier et deuxième organes de blocage (10 et 20) et cette unité de contrôle programmable utilise ces informations visuelles pour guider la tête d'attelage (40) à la poignée (1) et le système de porte (2) et/ou pour déterminer si le système de porte est du premier type (2a) ou du deuxième type (2b).
EP15380026.3A 2015-07-07 2015-07-07 Procédé et appareil pour la manipulation et le vidage de conteneurs á déchets Active EP3115317B1 (fr)

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ES15380026.3T ES2659868T3 (es) 2015-07-07 2015-07-07 Método y dispositivo para manipulado y vaciado de contenedores de recogida de desechos
EP15380026.3A EP3115317B1 (fr) 2015-07-07 2015-07-07 Procédé et appareil pour la manipulation et le vidage de conteneurs á déchets
TR2018/02393T TR201802393T4 (tr) 2015-07-07 2015-07-07 Atık konteynırlarını tutmak ve boşaltmak için yöntem ve cihaz.
PCT/IB2016/000901 WO2017006163A1 (fr) 2015-07-07 2016-06-27 Procédé et dispositif permettant de manipuler et de vider des contenants de collecte de déchets

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EP4116228B1 (fr) 2021-07-05 2023-11-15 Palvi, S.L. Procédé et dispositif de manutention de poubelles
EP4116229B1 (fr) 2021-07-05 2023-12-27 Palvi, S.L. Procédé et dispositif de manutention de poubelles
EP4129861B1 (fr) 2021-08-05 2024-01-17 Palvi, S.L. Procédé et dispositif de manutention de poubelles

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DE3915580A1 (de) 1989-05-12 1990-11-15 Kinshofer Greiftechnik Behaelter mit handhabungseinrichtung
IT1304519B1 (it) 1998-03-27 2001-03-19 Sinterplast S P A Dispositivo per la movimentazione e lo svuotamento di contenitori perla raccolta di rifiuti in genere.
ITTO980341A1 (it) * 1998-04-22 1999-10-22 Nord Engineering Di Armando Lo Sistema e/o dispositivo per la movimentazione, e lo scarico del conten uto,di contenitori adibiti alla raccolta dei rifiuti.
IT1320227B1 (it) 2000-07-05 2003-11-26 Nord Engineering Di Armando Lo Dispositivo per la movimentazione, e lo scarico del contenuto, dicontenitori adibiti alla raccolta dei rifiuti, e contenitori per detto
NL1032732C2 (nl) 2006-10-24 2008-04-25 Harm Bakker Containergrijper met bedieningmiddelen voor een losmechanisme en daarin toe te passen telescopische zuiger/cilinder-combinatie.
ES2581566T3 (es) * 2013-10-31 2016-09-06 Palvi, S.L. Dispositivo para manipulado y vaciado de contenedores de recogida de desechos

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ES2659868T3 (es) 2018-03-19

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