[go: up one dir, main page]

EP4116228B1 - Verfahren und vorrichtung zur handhabung von müllsammelbehältern - Google Patents

Verfahren und vorrichtung zur handhabung von müllsammelbehältern Download PDF

Info

Publication number
EP4116228B1
EP4116228B1 EP21382599.5A EP21382599A EP4116228B1 EP 4116228 B1 EP4116228 B1 EP 4116228B1 EP 21382599 A EP21382599 A EP 21382599A EP 4116228 B1 EP4116228 B1 EP 4116228B1
Authority
EP
European Patent Office
Prior art keywords
container
handle
movable elements
angular position
holding member
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
EP21382599.5A
Other languages
English (en)
French (fr)
Other versions
EP4116228A1 (de
Inventor
Albert PADULLES 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 ES21382599T priority Critical patent/ES2971933T3/es
Priority to EP21382599.5A priority patent/EP4116228B1/de
Publication of EP4116228A1 publication Critical patent/EP4116228A1/de
Application granted granted Critical
Publication of EP4116228B1 publication Critical patent/EP4116228B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Definitions

  • the present invention relates to the field of devices for handling waste collection containers, and to methods for performing said operations.
  • the present invention relates to a device for handling waste collection containers, and to a method for performing said operation, by means of a coupling head attached to a crane arm of a waste collection vehicle, said coupling head allowing holding a container and lifting it.
  • Particular embodiments of the device and method of the present invention also allow emptying the container into a container discharge area.
  • Devices for handling waste collection containers capable of being coupled to a handle of the container are known in the state of the art.
  • devices for handling and emptying waste collection containers which besides being capable of being coupled to a handle of the container, are also capable of interacting with a gate operator of the container for causing the opening and/or closing of the gates of the container.
  • patent document EP 3115317 A1 discloses a device and a method for handling and emptying waste collection containers.
  • a holding member comprises a central opening for the insertion of the handle of the container and a plurality of jaws, which move in a radial and coordinated manner to close the same around the handle of the container.
  • EP 2 754 624 A1 discloses a device for handling waste collection containers according to the preamble of claim 1.
  • Waste collection containers, or simply containers, and their handles have an angular positioned when laying on the floor. Due to various reasons, the angular position of the containers and their handles is usually not optimal in order to be coupled to a device for handling containers.
  • devices for handling containers which can rotate their gripping means in order to orientate them in such a way that they can be coupled to the handle of the container. Typically, this is done by an operator that can be aid with a video camera.
  • such a solution is complex and prone to errors.
  • the present invention is directed towards a device for handling waste collection containers.
  • the present invention solves the problem of adapting the angular position of the gripping means of a device for handling waste collection containers to the angular position of the handle of the containers by providing a device for handling waste collection containers whose gripping means self-align to the angular position of the container handle without needing complex sensors, cameras or any kind of artificial intelligence.
  • the present invention provides the above by disclosing a device for handling waste collection containers, the device comprising a coupling head which comprises a head structure arranged to be attached to the distal end of a crane arm comprised in a waste collection vehicle, said head structure comprising: a first holding member having first movable elements operated by means of first operating means, said first movable elements being movable between a handle gripping position and a handle release position and for being coupled to a mushroom-shaped handle fixed on an outer surface of a container for holding up said container through said handle, said handle having a first angular position, each of said movable elements having a flat surface adapted for being placed in contact with a corresponding flat surface of the mushroom-shaped handle in their handle gripping position; said first operating means being controlled by means of a control unit; and wherein the first movable elements are rotatable around a longitudinal axis of the head structure; the device for handling waste collection containers further comprising a rotation device having an engaged position wherein the rotation device rotates at least the first
  • a mushroom-shaped handle is a handle having a tubular section and a head protruding transversally with respect to said handle.
  • Said head is preferably shaped like a semi ellipsoid or a semi sphere, although it can have any other suitable shape.
  • Said tubular section is preferably of a polygonal cross-section, the sides of said polygon defining the angular position of the container handle.
  • the control unit may be configured to set the rotation device at its engaged position when the first movable elements reach their handle gripping position.
  • the rotation device may be configured to move the first movable elements to a second angular position for discharging the container to a discharge area.
  • the device for handling waste collection containers may further comprise an angular position sensor for detecting the angular position of the first movable elements, and the control unit may be configured to store therein the first angular position and the second angular position.
  • the rotation device may be configured to return the first movable elements to the first angular position after discharging the container to the discharge area.
  • the first holding member may be rotatably attached to the head structure, that is to say, the head structure can have a fixed angular position and the first holding member can rotate in order to adapt to the first angular position of the container handle.
  • the head structure may comprise a fixed part and a rotatable part that is rotatably attached to said fixed part and comprises the first holding member, the rotatable part being actuated by the rotation device, that is to say, the first holding member rotates together with part of the head structure.
  • the rotation device may comprise a motor, a clutch operatively connected to the motor and to a pinion, said pinion intermeshing with a driven gear driving the rotatable part of the head structure.
  • Said head structure may further comprise a second holding member having second movable elements arranged to be operated by means of second operating means, said second movable elements being movable between a gate operator release position and a position of interaction with the gate operator and allowing said movable elements to come into geometric interference with the gate operator, preventing its free movement, the first holding member being adapted to be attached to the handle and the second holding members being adapted to be arranged in the position of interaction, and the gate operator being arranged in the container in a position adjacent and/or concentric to said handle and mechanically linked to the lower gates of the container for controlling their opening and closing; a displacing mechanism arranged to be operated by a third operating means envisaged for axially moving said second holding member with respect to said first holding member between gate closing and gate opening positions, by means of the relative axial movement between the handle and the gate operator of the mentioned container linked to the first and second holding members, causing the closing and/or opening of said lower gates of the container mechanically linked to the gate operator; the second movable elements
  • the control unit may be provided with at least a first and second handling configuration, which are adapted, respectively, for handling a container containing a gate operator of a first type and for handling a container containing a gate operator of the second type, the first and second configurations differing at least in the predetermined handle gripping and release positions, and/or in the operator release and interaction positions; and/or in the gate opening and closing positions.
  • the displacing mechanism for axially moving the second holding member with respect to the first holding member may comprise at least a guide arranged in an axial direction of the coupling head and the third operating means may comprise at least a roller chain.
  • the third operating means may further comprise a hydraulic cylinder.
  • Each first movable element may comprise two lateral faces perpendicular to its flat surface, and chamfered edges between the flat surface and the lateral faces.
  • the first holding member may comprise at least a pair of movable elements facing each other.
  • the first holding member may comprise four first movable elements arranged in a cross shaped manner.
  • a method for handling waste collection containers by means of a device for handling waste collection containers comprising the following steps: placing the coupling head in a position such that the first holding member is located adjacent to, aligned with and at least partially around the handle of a container, the second holding member being adjacent to and aligned with the gate operator; operating the movement of the first movable elements to the handle gripping position, firmly securing the handle; wherein the step of operating the movement of the first movable elements to the handle gripping position, firmly securing the handle comprises the following steps: set the rotation device to the disengaged position, wherein at least the first movable elements freely rotate; operate the movement of the first movable elements to the handle gripping position with the rotation device in the disengaged position so that at least the first movable elements adapt the angular position thereof to the first angular position of the container handle; firmly secure the container handle with the first movable elements having its flat surface in contact
  • the step of operating the movement of the first movable elements may further comprise the step of setting the rotation device to the engaged position.
  • the step of setting the rotation device to the disengaged position may comprise the step of disengaging the clutch operatively connected to the motor and to the pinion that intermeshes with the gear that drives the rotatable part of the head structure, so that said pinion, gear and rotatable part freely rotate.
  • the method may further comprise the steps of operating the movement of the second movable elements to the position of interaction with the operator; moving the second holding member to the gate closing position by means of the displacing mechanism, allowing the second movable elements to support a vertical load produced by the weight of the waste located on the gates of the container and transmitted through the gate operator; lifting the container, placing it such that it is superposed on a discharge area and operating the displacing mechanism until placing the second holding member in the gate opening position, causing the movement of the second holding member and the gate operator, causing the opening of the gates mechanically linked to said gate operator; operating the displacing mechanism again until placing the second holding member in the gate closing position, causing the closing of said gates, putting the container back in its original location and releasing the first and second holding members.
  • the step of lifting the container, placing it such that it is superposed on a discharge area may comprise the following steps: lifting the container; optionally rotating the container handle to the second angular position for discharging the container to the discharge area, if the first angular position of the container handle does not coincide with its second angular position; placing the container such that it is superposed on the discharge area.
  • the step of lifting the container, placing it such that it is superposed on a discharge area may comprise the following steps: lifting the container; placing the container such that it is superposed on the discharge area; optionally rotating the container handle to the second angular position for discharging the container to the discharge area, if the first angular position of the container handle does not coincide with its second angular position.
  • the step of putting the container back in its original location may comprise the following steps: rotating the container handle to the first angular position; putting the container back in its original location.
  • the first, second and third operating means may be controlled by means of a programmable control unit provided with at least a first and a second handling configuration, which are adapted, respectively, for handling a container containing a gate operator of a first type and for handling a container containing a gate operator of a second type, the first and second configurations differing at least in the predetermined handle gripping and release positions, and/or in the gate opening and closing positions; and wherein the programmable control unit may implement the following steps: determining if the container to be handled integrates a gate operator of a first type or a gate operator of the second type based on the information obtained by means of sensors or by means of information entered by an operator through an interface; applying a first handling configuration if the container to be handled integrates a gate operator of the first type or a second handling configuration if the container to be handled integrates a gate operator of the second type.
  • a camera and/or a lidar sensor may be integrated in the coupling head for providing information of the handle and the gate operator, and in that the programmable control unit uses said information of the handle and the gate operator 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.
  • references to geometric position such as parallel, perpendicular, tangent, etc. allow deviations up to ⁇ 5° from the theoretical position defined by this nomenclature.
  • FIGS. 1 and 2 show a top and a bottom perspective view, respectively, of an exemplary embodiment of a device for handling waste collection containers according to the present invention.
  • the device comprises a coupling head 1 which comprises a head structure 10 arranged to be attached at a distal end of a crane arm in a waste collection vehicle (not shown).
  • Said head structure 10 further comprises a first holding member 20 having first movable elements 21 operated by first operating means.
  • the head structure 10 comprises a fixed part 11 and a rotatable part 12 that is rotatably attached to said fixed part 11, which is configured for being attached to the distal end of a crane arm comprised in a wate collection vehicle (not shown).
  • the device of the exemplary embodiment shown further comprises a rotation device which comprises a motor 30, a clutch 40, a pinion 50 (hidden in these figures, see FIG. 5 ), and a gear 60.
  • the rotation device drives the rotatable part 12.
  • the first holding member 20 defines a circular opening 22 for the passage therethrough of the handle 2, 2' of a waste collection container 3 (see FIG. 3 ) to be handled by the device object of the present invention.
  • the exemplary embodiment shown comprises four first movable elements 21 arranged in a cross shaped manner.
  • other embodiments can have a different number of first movable elements 21, for example, a pair of them facing each other.
  • each first movable element 21 comprises two lateral faces perpendicular to its flat surface, which is intended for being placed in contact with a corresponding flat surface of the container handle, and chamfered edges between the flat surface and the lateral faces.
  • FIG. 3 shows a schematic front view of two different handles 2, 2' of a waste collection container 3.
  • the device object of the present invention can be used for handling containers 3 having gates on its lower face, filling openings in its upper half, a handle 2, 2' firmly attached to the container 3 on its upper face, which allows holding the entire container and its waste load through said handle 2, 2'.
  • Certain containers 3 can have a handle 2, 2' comprising a gate operator 201, 201' arranged in a position adjacent or concentric to said handle 2, 2', which is mechanically linked to the gates of the container 3, for example, by means of an articulated bar mechanism or a cable and pulley mechanism.
  • Said mechanical link allows the axial movement of the gate operator 201, 201' 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 while lifting the container.
  • said transmitted loads are supported by said second holding member.
  • both handles 2, 2' comprise a tubular section 202 and a head 200 protruding from said tubular sections 202.
  • the tubular section 202 has a squared cross-section, although other handles 2,'2 can have tubular sections having different cross-sections.
  • the gate closing position will be the position in which said operator 201 is completely inserted into the handle 2, without projecting above the same, whereas the gate opening position will be the position in which said gate operator 201 of the first type projects a predetermined distance from the handle 1.
  • the gate operator 201 of the first type is shown in the gate opening position.
  • the gate opening position can be the position in which the gate operator is completely inserted into the handle, without projecting above the same, whereas the gate closing position can be the position in which said gate operator projects a predetermined distance from the handle.
  • said gate operator 201' of the second type comprises a flange and the gate opening position will be the position in which said gate operator 201' is in the lower point of its vertical travel, the mentioned flange being close to and superposed to the handle. This one will also be the resting position of the gate operator 201' of the second type, the container 3 being supported on the ground, and the opening of the lower gates therefore being prevented as they are supported on the ground. In the case shown in FIG.
  • the gate closing position of the gate operator 201' of the second type will be the position in which the flange of the gate operator 201' of the second type is arranged at a predetermined distance from the head 200 greater than the distance existing in the gate opening position, in the upper limit of its vertical travel.
  • handles 2, 2' depicted in FIG. 3 have been shown for illustrative purposes, as other types of handles 2, 2' of waste collection containers 3 can also be used with the device of the present invention.
  • FIG. 4 shows a front view of the exemplary embodiment of a device for handling waste collection containers shown in FIGS. 1 and 2 .
  • the head structure 10, and in particular, its fixed part 11 comprises a motor 30, a clutch 40 operatively connected to said motor 30 and to a pinion 50, which in this figure is hidden under a protective cover (see FIG. 5 ).
  • Said pinion 50 intermeshes with a gear 60 fixed to the rotatable part 12 of the head structure 10.
  • the clutch 40 has an engaged position wherein the rotation device, that is to say, the motor 30, pinion 30 and gear 60, rotate the rotatable part 12 of the head structure 10 around a longitudinal axis of said head structure 10, thus rotating the first movable elements 21 comprised in the first holding member 20.
  • the clutch 40 also has a disengaged position wherein the rotatable structure 12 freely rotates driven by the first movable elements 21 while moving to its handle gripping position from the handle release position.
  • the first movable elements 21 are operated by means of first operating means, which in the embodiment shown comprise the actuator 70.
  • the first movable elements 21 adapt their angular position to the angular position of the handle 2, 2' of the container 3 by freely rotating while advancing to their handle gripping position, when said container 3 is resting on the floor.
  • This solution does not require complex sensors, neither advanced algorithms or artificial intelligence, to detect the angular position of the handle 2, 2' of the container 3 and actively rotate the gripping members until they reach a suitable angular position for gripping or holding said handle 2, 2'.
  • FIG. 4 also depicts the cut line V-V.
  • FIG. 5 shows a section view of the exemplary embodiment of a device for handling waste collection containers shown in FIG. 4 along the cut line V-V.
  • This section view clearly shows the pinion 50, which in the previous figures is hidden under a protective cover, and the gear 60 that intermeshes with said pinion and drives the rotatable part 12 of the head structure 10 (see, for example, FIGS. 1 and 2 ).
  • the rotatable part 12 of the head structure 10 freely rotates adapting its angular position to the one of the first movable elements 21 which self-align or self-orientate, due to the movement of said first movable elements 21 when moving from the handle release position to the handle gripping position.
  • the rotatable part 12 drives the pinion 50, which freely rotates, by means of the gear 60.
  • control unit of the device may be configured to set the clutch 40 to its engaged position so that the rotation device can drive and rotate the rotatable part 12.
  • the motor 30 can rotate the rotatable part 12 of the head structure 10 until a second angular position is reached in which the container 3 can be discharged in a discharge area, which can be inside or outside a waste collection vehicle.
  • Said second angular position may be the same as the first one, in which case the rotation device does not rotate the handle 2, 2' and its container 3.
  • Differences between the first and the second angular positions may be due to the placement of the container 3 on the ground, the configuration of the discharge area, misuse of the container 3, vandalism, etc.
  • Certain embodiments of the device according to the present invention can comprise a second holding member having second movable elements arranged to be operated by means of second operating means, said second movable elements being movable between a gate operator release position and a position of interaction with the gate operator 201, 201' and allowing said movable elements to come into geometric interference with the gate operator 201, 201', preventing its free movement, the first holding member being adapted to be attached to the handle 2, 2' and the second holding members being adapted to be arranged in the position of interaction.
  • Said embodiments according to the present invention also comprise a displacing mechanism arranged to be operated by third operating means envisaged for axially moving said second holding member with respect to said first holding member between gate closing and gate opening positions, by means of the relative axial movement between the handle 2, 2' and the gate operator 201, 201' of the mentioned container 3, causing the closing and/or opening of the lower gates of the container 3.
  • said embodiments besides handling the waste collection container 3, can also empty their content in a discharge area.
  • the containers 3 can be emptied, for example, by an operator manually activating a discharge mechanism of the containers 3.
  • Embodiments of the device according to the present invention which are able to discharge the content of the container 3 are preferred, but as previously stated, are not necessary.
  • the head structure comprises a rotatable part that rotates the components that it bears
  • this may differ.
  • only the first holding member 20 with its first movable elements 21 may be rotatable, the head structure having a fixed angular position.
  • Another possibility is that only the first movable elements 21 are rotatable around a longitudinal axis of the head structure 10, with the head structure and the first holding member having a fixed angular position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse Receptacles (AREA)

Claims (15)

  1. Vorrichtung zur Handhabung von Müllsammelbehältern, wobei die Vorrichtung einen Kupplungskopf (1) umfasst, der eine Kopfstruktur (10) umfasst, die so angeordnet ist, dass sie an dem distalen Ende eines in einem Müllsammelfahrzeug enthaltenen Kranarms angebracht werden kann, wobei die Kopfstruktur Folgendes umfasst:
    ein erstes Halteglied (20) mit ersten beweglichen Elementen (21), die mittels erster Betätigungsmittel betätigt werden, wobei die ersten beweglichen Elemente (21) zwischen einer Griff-Greifposition und einer Griff-Freigabeposition beweglich sind und zum Koppeln mit einem pilzförmigen Griff (2, 2'), der an einer Außenoberfläche eines Behälters (3) befestigt ist, um den Behälter (3) durch den Griff (2, 2') hochzuhalten, wobei der Griff (2, 2') eine erste Winkelposition aufweist, wobei jedes der ersten beweglichen Elemente (21) eine flache Oberfläche aufweist, die dafür ausgelegt ist, in Kontakt mit einer entsprechenden flachen Oberfläche des pilzförmigen Griffs (2, 2') in ihrer Griff-Greifposition platziert zu werden;
    wobei die ersten Betätigungsmittel mittels einer Steuereinheit gesteuert werden;
    dadurch gekennzeichnet, dass die ersten beweglichen Elemente (21) um eine Längsachse der Kopfstruktur (10) drehbar sind;
    und dass die Vorrichtung zur Handhabung von Müllsammelbehältern ferner eine Drehvorrichtung mit einer Eingriffsposition, wobei die Drehvorrichtung mindestens die ersten beweglichen Elemente (21) um die Längsachse dreht, und einer Außereingriffsposition, wobei sich mindestens die ersten beweglichen Elemente (21) frei um die Längsachse drehen, umfasst;
    wobei die Steuereinheit so ausgebildet ist, dass sie die Drehvorrichtung in ihre Außereingriffsposition anordnet, während sich die ersten beweglichen Elemente (21) in die Griff-Greifposition bewegen, so dass sich mindestens die ersten beweglichen Elemente (21) frei drehen und ihre Winkelposition an die erste Winkelposition des Griffs (2, 2') des Behälters anpassen.
  2. Vorrichtung nach Anspruch 1, wobei die Steuereinheit so ausgebildet ist, dass sie die Drehvorrichtung in ihre Eingriffsposition anordnet, wenn die ersten beweglichen Elemente ihre Griff-Greifposition erreichen.
  3. Vorrichtung nach Anspruch 2, wobei die Drehvorrichtung so ausgebildet ist, dass sie die ersten beweglichen Elemente (21) in eine zweite Winkelposition bewegt, um den Behälter (3) in einen Entladebereich zu entladen.
  4. Vorrichtung nach Anspruch 3, wobei sie ferner einen Winkelpositionssensor umfasst, um die Winkelposition der ersten beweglichen Elemente (21) zu erkennen, und wobei die Steuereinheit so ausgebildet ist, dass sie die erste Winkelposition und die zweite Winkelposition darin speichert.
  5. Vorrichtung nach Anspruch 4, wobei die Drehvorrichtung so ausgebildet ist, dass sie die ersten beweglichen Elemente (21) nach dem Entladen des Behälters (3) in den Entladebereich in die erste Winkelposition zurückbringt.
  6. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die Kopfstruktur (10) einen feststehenden Teil (11) und einen drehbaren Teil (12) umfasst, der drehbar an dem feststehenden Teil (11) angebracht ist und das erste Halteglied (20) umfasst, wobei der drehbare Teil durch die Drehvorrichtung betätigt wird.
  7. Vorrichtung nach Anspruch 6, wobei die Drehvorrichtung einen Motor (30), eine Kupplung (40), die betriebsmäßig mit dem Motor (30) und einem Ritzel (50) verbunden ist, umfasst, wobei das Ritzel mit einem angetriebenen Zahnrad (60) kämmt, wobei der drehbare Teil (12) der Kopfstruktur (10) angetrieben wird.
  8. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die Kopfstruktur (10) ferner Folgendes umfasst:
    - ein zweites Halteglied mit zweiten beweglichen Elementen, die so angeordnet sind, dass sie mittels zweiter Betätigungsmittel betätigt werden können, wobei die zweiten beweglichen Elemente zwischen einer Freigabeposition des Torantriebs und einer Position des Zusammenwirkens mit dem Torantrieb (201, 201') beweglich sind und es den beweglichen Elementen ermöglichen, in geometrischen Eingriff mit dem Torantrieb (201, 201') zu kommen, wobei dessen freie Bewegung verhindert wird, wobei das erste Halteglied dazu ausgelegt ist, an dem Griff (2, 2') angebracht zu werden, und die zweiten Halteglieder dazu ausgelegt sind, in der Position des Zusammenwirkens angeordnet zu werden, und wobei der Torantrieb (201, 201') in dem Behälter (3) in einer Position neben und/oder konzentrisch zu dem Griff (2, 2') angeordnet ist und mechanisch mit den unteren Toren des Behälters (3) verbunden ist, um deren Öffnen und Schließen zu steuern;
    - einen Verschiebemechanismus, der so angeordnet ist, dass er durch dritte Betätigungsmittel betätigt werden kann, die vorgesehen ist, um das zweite Halteglied in Bezug auf das erste Halteglied zwischen Torschließ- und Toröffnungspositionen axial zu bewegen, und zwar mittels der relativen axialen Bewegung zwischen dem Griff (2, 2') und dem Torantrieb (201, 201') des Behälters (3), der mit dem ersten und dem zweiten Haltegliedern verbunden ist, wobei das Schließen und/oder Öffnen der unteren Tore des Behälters (3) verursacht wird, die mechanisch mit dem Torantrieb (201, 201') verbunden sind; und
    wobei die zweiten beweglichen Elemente zwischen der Freigabeposition des Torantriebs und der Position des Zusammenwirkens mit dem Torantrieb (201, 201') beweglich sind; und die ersten, zweiten und dritten Betätigungsmittel durch die Steuereinheit gesteuert werden.
  9. Verfahren zur Handhabung von Müllsammelbehältern mittels einer Vorrichtung zur Handhabung von Müllsammelbehältern nach den Ansprüchen 1 bis 8, umfassend die folgenden Schritte:
    - Platzieren des Kupplungskopfes in einer solchen Position, dass das erste Halteglied an den Griff (2, 2') eines Behälters (3) angrenzt, mit diesem ausgerichtet ist und ihn mindestens teilweise umgibt, wobei das zweite Halteglied an den Torantrieb (201, 201') angrenzt und mit diesem ausgerichtet ist;
    - Betätigen der Bewegung der ersten beweglichen Elemente (21) in die Griff-Greifposition, wobei der Griff (2, 2') fest gesichert wird;
    dadurch gekennzeichnet, dass der Schritt des Betätigens der Bewegung der ersten beweglichen Elemente (21) in die Griff-Greifposition, wobei der Griff fest gesichert wird, die folgenden Schritte umfasst:
    - Anordnen der Drehvorrichtung in der Außereingriffsposition, wobei sich mindestens die ersten beweglichen Elemente (21) frei drehen;
    - Betätigen der Bewegung der ersten beweglichen Elemente (21) in die Griff-Greifposition mit der Drehvorrichtung in der Außereingriffsposition, so dass mindestens die ersten beweglichen Elemente (21) ihre Winkelposition an die erste Winkelposition des Griffs (2, 2') des Behälters anpassen;
    - Festes Sichern des Griffs (2, 2') des Behälters mit dem ersten beweglichen Element (21), dessen flache Oberfläche in Kontakt mit einer entsprechenden flachen Oberfläche des pilzförmigen Griffs (2, 2') steht.
  10. Verfahren nach Anspruch 9, wobei der Schritt des Betätigens der Bewegung der ersten beweglichen Elemente (21) ferner den Schritt des Anordnens der Drehvorrichtung in die Eingriffsposition umfasst.
  11. Verfahren nach Anspruch 10, wobei der Schritt des Anordnens der Drehvorrichtung in der Außereingriffsposition den Schritt des Lösens des Eingriffs der Kupplung umfasst, die betriebsmäßig mit dem Motor und dem Ritzel verbunden ist, das mit dem Zahnrad kämmt, das den drehbaren Teil der Kopfstruktur antreibt, so dass sich das Ritzel, das Zahnrad und der drehbare Teil frei drehen.
  12. Verfahren nach einem der Ansprüche 9 bis 11, das ferner die folgenden Schritte umfasst:
    - Betätigen der Bewegung der zweiten beweglichen Elemente in die Position des Zusammenwirkens mit dem Torantrieb (201, 201');
    - Bewegen des zweiten Halteglieds in die Torschließposition mittels des Verschiebemechanismus, was es den zweiten beweglichen Elementen ermöglicht, eine vertikale Last zu tragen, die durch das Gewicht des Abfalls erzeugt wird, der sich auf den Toren des Behälters (3) befindet und durch den Torantrieb (201, 201') übertragen wird;
    - Anheben des Behälters (3), wobei dieser so platziert wird so, dass er auf einer Entladefläche aufliegt, und Betätigen des Verschiebemechanismus, bis das zweite Halteglied in der Toröffnungsposition platziert ist, wobei die Bewegung des zweiten Halteglieds und des Torantriebs (201, 201') verursacht wird, wobei das Öffnen der mechanisch mit dem Torantrieb (201, 201') verbundenen Tore bewirkt wird;
    - erneutes Betätigen des Verschiebemechanismus bis zum Platzieren des zweiten Halteglieds in der Torschließposition, wobei das Schließen der Tore verursacht wird, der Behälter (3) wieder an seinen ursprünglichen Ort zurückgesetzt wird und das erste und zweite Halteglied freigegeben werden.
  13. Verfahren nach Anspruch 12, wobei der Schritt des Anhebens des Behälters (3), wobei dieser so platziert wird so, dass er auf einer Entladefläche aufliegt, die folgenden Schritte umfasst:
    - Anheben des Behälters (3);
    - gegebenenfalls Drehen des Griffs (2, 2') des Behälters in die zweite Winkelposition, um den Behälter (3) in den Entladebereich zu entladen, wenn die erste Winkelposition des Griffs (2, 2') des Behälters nicht mit seiner zweiten Winkelposition zusammenfällt;
    - Platzieren des Behälters (3), so dass er auf dem Entladebereich aufliegt.
  14. Verfahren nach Anspruch 12, wobei der Schritt des Anhebens des Behälters, wobei dieser so platziert wird so, dass er auf einer Entladefläche aufliegt, die folgenden Schritte umfasst:
    - Anheben des Behälters (3);
    - Platzieren des Behälters (3), so dass er auf dem Entladebereich aufliegt;
    - gegebenenfalls Drehen des Griffs (2, 2') des Behälters in die zweite Winkelposition, um den Behälter (3) in den Entladebereich zu entladen, wenn die erste Winkelposition des Griffs (2, 2') des Behälters nicht mit seiner zweiten Winkelposition zusammenfällt.
  15. Verfahren nach einem der Ansprüche 12 oder 14, wobei der Schritt des Zurücksetzens des Behälters (3) an seinen ursprünglichen Ort die folgenden Schritte umfasst:
    - Drehen des Griffs (2, 2') des Behälters in die erste Winkelposition;
    - Zurücksetzen des Behälters (3) in seine ursprüngliche Position.
EP21382599.5A 2021-07-05 2021-07-05 Verfahren und vorrichtung zur handhabung von müllsammelbehältern Active EP4116228B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
ES21382599T ES2971933T3 (es) 2021-07-05 2021-07-05 Método y dispositivo para la manipulación de contenedores de recogida de residuos
EP21382599.5A EP4116228B1 (de) 2021-07-05 2021-07-05 Verfahren und vorrichtung zur handhabung von müllsammelbehältern

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21382599.5A EP4116228B1 (de) 2021-07-05 2021-07-05 Verfahren und vorrichtung zur handhabung von müllsammelbehältern

Publications (2)

Publication Number Publication Date
EP4116228A1 EP4116228A1 (de) 2023-01-11
EP4116228B1 true EP4116228B1 (de) 2023-11-15

Family

ID=77042889

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21382599.5A Active EP4116228B1 (de) 2021-07-05 2021-07-05 Verfahren und vorrichtung zur handhabung von müllsammelbehältern

Country Status (2)

Country Link
EP (1) EP4116228B1 (de)
ES (1) ES2971933T3 (de)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3000732B1 (fr) * 2013-01-10 2017-12-08 Mecagil-Lebon Sa Accessoire polyvalent de levage de conteneurs
EP3115317B1 (de) 2015-07-07 2017-11-22 Palvi, S.L. Verfahren und vorrichtung zum behandeln und entleeren von abfallbehältern
ES2661290B2 (es) * 2017-10-24 2018-10-25 Aquilino PÉREZ VERA Grúa eléctrica portante para movimiento de cargas y recipientes contenedores de cogida vertical y vaciado sin volteo.

Also Published As

Publication number Publication date
EP4116228A1 (de) 2023-01-11
ES2971933T3 (es) 2024-06-10

Similar Documents

Publication Publication Date Title
US4797050A (en) Apparatus for lifting and tilting drums of flowable material
US11993458B2 (en) Pack through eject panel
FR2948339A1 (fr) Perfectionnement a une installation de palettisation combinee avec acces securise.
EP2609029A1 (de) Vorrichtung zur handhabung von trommeln, gerät zur übertragung von pulverstoffen und übertragungsverfahren
US11691486B2 (en) Openable structure
EP4116228B1 (de) Verfahren und vorrichtung zur handhabung von müllsammelbehältern
EP1172308B1 (de) Vorrichtung und Verfahren zum handhaben und entleeren von Müllbehältern
EP1084069B1 (de) Vorrichtung zur handhabung von müllsammelbehältern
US20150246800A1 (en) Cargo door safety tool
EP3115317B1 (de) Verfahren und vorrichtung zum behandeln und entleeren von abfallbehältern
EP4129861A1 (de) Verfahren und vorrichtung zur handhabung von müllsammelbehältern
EP3118142B1 (de) Verfahren und system zum schliessen und öffnen einer behältertür
EP2457850A1 (de) Sicherungsvorrichtung für ein System zum Heben und Kippen von Behältern
EP4116229B1 (de) Verfahren und vorrichtung zur handhabung von müllsammelbehältern
CA2190911A1 (en) Gate seal system
CN105151395B (zh) 一种无纺棉大型卷料的自动装铁框装置
CN114758807A (zh) 包装容器、自动取封盖装置、自动取封盖系统及方法
DE3248596C2 (de)
DE3248595C2 (de)
CA1297448C (en) Apparatus for lifting and tilting drums of flowable material
FR2611681A1 (fr) Procede et dispositif de reprise de talus residuels dans un silo rectangulaire a fond plat
EP0680900B1 (de) Vorrichtung und Betriebsweise zum Greifen von Körpern, vorzugsweise von zylindrischen Körpern
CN113660854B (zh) 饲养系统和用于饲养动物的方法以及饲料抓具
KR20240173472A (ko) 벌크백 디스차지 시스템
FR2877930A1 (fr) Dispositif pour la pose et la depose d'element souple de couverture

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20230327

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: B65F 3/02 20060101AFI20230531BHEP

INTG Intention to grant announced

Effective date: 20230620

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230712

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602021006847

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20231115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240216

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240315

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1631583

Country of ref document: AT

Kind code of ref document: T

Effective date: 20231115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240315

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240216

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240215

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240315

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240215

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2971933

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20240610

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602021006847

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240828

Year of fee payment: 4

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240729

Year of fee payment: 4

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20240801

Year of fee payment: 4

Ref country code: ES

Payment date: 20240903

Year of fee payment: 4

26N No opposition filed

Effective date: 20240819

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20240731

Year of fee payment: 4

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231115