ES2553927B1 - Device installed in a vehicle for collecting and lifting containers and downloading their contents - Google Patents

Abstract

Device installed in a vehicle for collecting and lifting containers and unloading its contents. # The present invention concerns a device equipped with an articulated arm operated by an electrically or electronically controlled drive system, said device being able to collect, lift and unload containers, through a work cycle that includes at least the following positions, retracted, extended, grabbing, lifting and unloading, said device being able to pick up containers located interchangeably on any one of the two sides of a vehicle, having said articulated arm a fixed vertical column attached to the vehicle, a first segment perpendicular to the direction of advance of the vehicle and articulated with respect to the vertical column by a first joint, and a second segment perpendicular to the first and horizontal segment, with a gripping device in its end

Description

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DESCRIPTION

DEVICE INSTALLED IN A VEHICLE FOR COLLECTION AND ELEVATION OF CONTAINERS AND DISCHARGE OF ITS CONTENT

Technique Field

The present invention concerns a device installed in a vehicle for the collection and elevation of containers and unloading of its contents, by means of an articulated arm operated by a drive system, for example hydraulic, hydraulically controlled, electrically or electronically, said device being able to collect , lift and unload containers, through a work cycle that includes at least the following positions, retracted, extended, grab, lift and unload, and said device being conceived to collect containers indistinctly in any one of the two vehicle flanks.

State of the art

Container collection and emptying systems, by means of a vehicle equipped with a collection device formed by an articulated arm operated by a drive system, are widely known.

For example, WO9639347A2 describes an articulated arm equipped with a rotating base with a vertical axis, on which there are four segments articulated with each other by means of three joints parallel to each other with a horizontal axis, in addition to being one of said telescopic segments. This configuration allows the arm to rotate on its rotating base, accessing both sides of the vehicle, and by means of the rest of the joints, it allows to lift and place a container on the vehicle. However, this solution has a high mechanical and control complexity, since it is necessary to act on 5 actuators (4 joints and 1 telescopic segment), and it is necessary to control the position with precision of the mentioned segments to be able to couple the end of said arm to one container.

Document EP0695702A1 describes a solution similar to the previous one but with a less horizontal articulation, and intended to be fixed to the chassis of the vehicle by its rear part and in a lower position.

In WO8301407A1 an articulated arm is provided with a vertical axis articulation and a horizontal axis articulation at its base, a telescopic segment, and

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a vertical axis joint and a horizontal axis joint at its distal end. This arm can rotate on its base in a horizontal plane, and also rotate on a vertical plane, which gives it two different ways of accessing opposite sides of the base, but once again this device requires the actuation and control of 5 actuators (4 joints and 1 telescopic segment) which makes its manufacturing, use and maintenance more expensive and difficult.

Document EP1084069B1 describes an arm composed of two extendable segments perpendicular to each other, one horizontal and one vertical, mounted on a rotating base with a vertical axis. This gives the arm the freedom to access opposite sides of the vehicle on which it is mounted thanks to the rotation of the base, and only requires the control of 3 actuators for handling. In this case, in order to achieve that the horizontal segment can descend to a lower position close to the base of the arm, the vertical segment is a telescopic arm on which there are vertical guides, above which the horizontal segment can ascend or descend . This solution adds technical complexity to the whole.

All the solutions described up to this point have a rotary base with a vertical axis, on which the rest of the arm is located, and which is what allows said arm to reach any point around it. As soon as they lift said container and rotate said rotating base to place said container on the vehicle for unloading, a translation and rotation of said container is carried out, and not just a translation.

On the contrary, document US2002071749A1 describes a solution for the collection, elevation and emptying of containers in a vehicle, which only allows the collection from a single flank of said vehicle, but which does not have said articulated base of vertical axis. This antecedent has an articulated segment with respect to the vehicle by means of a horizontal axis articulation that allows raising or lowering the distal end of said segment, making it possible to lift an attached container for emptying. This construction is in concept very simple, but does not allow the collection of containers arranged on opposite sides of the vehicle.

Brief description of the invention

The proposed invention concerns a device installed in a vehicle for collecting and lifting containers and unloading its contents inside said vehicle. The vehicle defines a direction of advance, which is the direction in which the vehicle moves

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when its direction does not rotate, and two opposite flanks. Said lifting and unloading of containers is carried out by means of an articulated arm actuated by actuation means, for example hydraulic or electric, controlled hydraulically, electrically or electronically, said device being able to collect, lift and unload containers located interchangeably on one of the opposite flanks of the collection vehicle, through a work cycle that includes at least the following positions, retracted, extended, grab, lift and unloading, said work cycle being able to be performed interchangeably on one or the other side of the vehicle.

Said device includes an articulated mobile arm assembly which integrates at least the following elements:

• a vertical column;

• a first segment of cantilever arm articulated by a first articulation with respect to the vertical column;

• a second cantilever arm segment attached to the distal end of the first segment;

• a gripping device.

The vertical column is attached to the vehicle in a central position, with respect to the plane of symmetry of said vehicle, joined to it in an unarticulated way.

The first segment is arranged in an orientation substantially perpendicular to the direction of advance.

At a distal end of said vertical column is a first joint that joins the first segment to the vertical column. Said first articulation allows the rotation of the first segment around an axis arranged in the direction of advance, which allows the movement of the first segment in a plane perpendicular to the direction of advance. Said first articulation allows the first segment to be placed vertically, in the unloading position, and allows a folding towards one or another flank of said first segment with respect to said vertical, of at least ± 60 °, with a freedom of movement of at least ± 90 °, even having a freedom greater than ± 120 °. This feature allows the first segment to be oriented towards one or the other side of the vehicle, to access containers located interchangeably on any of said flanks.

The second segment is arranged substantially parallel to the direction of advancement, and is attached to a distal end of the first segment. Thus the first and the

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second segments mentioned will form an L-arm, both segments being perpendicular to each other and lacking any articulation that allows them to alter the angle they form.

This second cantilevered supported segment allows the first segment to be vertically, in the unloading position, the distal end of the second segment being located above a collection vessel attached to the vehicle.

It will be understood that it is apparent to an expert that a single curved or folded segment will be equivalent to two segments perpendicular to each other.

The gripping device is directly or indirectly connected to the second segment, in an approximately distal position, said gripping device being configured to be coupled to a container to allow its lifting and unloading of its contents into the vehicle's collection container. The aforementioned gripping device is intended for gripping containers located interchangeably on one or the other side of the vehicle.

The said gripping device can consist, for example, of a lower opening in which to introduce a handle fixed to the upper face of the container, and of a clamp mechanism to produce the firm grip of said handle of the container. Other alternative gripping devices are provided, such as a system of clamps that can be attached to opposite sides of the container for gripping and lifting, or a system of lateral grabbing of the container, such as hooks that allow the container to be held on its side face adjacent to the collection vehicle. Many other embodiments are possible, as will be apparent to an expert.

A second articulation is configured to rotate at least the gripping device about an axis parallel to the direction of advance, allowing its orientation to be corrected with respect to the vertical to ensure that the load attached to said gripping device is maintained in an orientation constant with respect to the vertical during its elevation. Thanks to this configuration, the second segment can be placed on one or the other side of the vehicle by rotating the first joint, and the second joint allows the gripping device to be maintained at an angular position with respect to the vertical one suitable for gripping at all times. of containers, whatever the angular position of the first segment.

Said first articulation is actuated by a drive device, for example hydraulic, controlled hydraulically, electrically or electronically, such as a

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hydraulic gearmotor, or a system of hydraulic pistons or connecting rods, or an electric motor or servo motor.

In a preferred embodiment, a first and a second symmetrical hydraulic piston functions as a drive device. Both pistons have one end connected to the column, and an opposite end connected to the first segment, so that its extension or retraction causes the first segment to rotate with respect to the column. Said first piston is located displaced, with respect to the plane of symmetry, towards a first flank, and is responsible for driving the angular displacement of the first segment between the vertical position and its maximum folding position towards said first flank. In a symmetrical way the second piston is displaced towards the second flank, and drives the angular displacement of the first segment from its vertical position to its maximum folding position towards the second flank. In this way the combination of both pistons allows all the freedom of angular movement of the first segment. The first segment being on the side opposite the one controlled by a certain piston, this is deactivated, or is regulated to collaborate with the symmetrical piston.

Said second articulation can also be actuated by means of a drive device, for example hydraulic, hydraulically controlled, electrically or electronically. Preferably, this hydraulic, electric or electronic control will reproduce the actuation of the first joint but in the opposite direction, counteracting the angular rotation of the first joint by means of the second joint, thus maintaining constant the angular position of the gripping device with respect to the vertical.

The hydraulic, electrical or electronic control can also have, additionally or alternatively, sensors that detect the position / inclination of the gripping device, then controlling the drive device to correct any detected deviation from the position / inclination.

According to another alternative embodiment, the second articulation can have a mechanical transmission that allows said second articulation to reproduce the rotation of the first articulation but in the opposite direction, thus compensating for the rotation of the first articulation and thus maintaining the orientation of the device of grasped with respect to the vertical.

Another alternative embodiment for the second articulation, leaves this articulation free, then the grabbing device is gravity-oriented, so that it is always vertical regardless of the position of the articulated arm. In this third embodiment, it is preferable to include a brake element that allows the position of said second joint to be locked at will in a certain angular position at will, or that hinders its

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rotation, to prevent its swinging due to vibrations, sudden movements or wind blows, but without preventing its angular correction due to gravity.

An additional alternative realization for the second articulation would have a hydraulic, electrical or electronic control that allows the controlled rotation of the second joint to perform the dump of the containers at will on the waste collection container of the vehicle.

The device described so far has a maximum of two articulations that allow access to containers located on opposite sides of the vehicle, by means of a very simple construction and control articulated arm.

To improve the reach of said articulated arm, it is proposed as an alternative embodiment, that the first segment be extensible, for example by telescopic segments, in this way it is possible to increase the reach of the articulated arm at different distances from the vehicle, which can be achieved by extending more or less said first segment. This extension movement of the first segment can be driven by drive means, such as hydraulic pistons and can be controlled hydraulically, electrically or electronically.

Said first segment will be subjected to strong torso efforts, since the load will be laterally distanced from the axis of said first segment. As long as the extensible mechanism adequately resists said torso efforts, it is proposed, as a first embodiment, the use of telescopic segments of rectangular section, which will prevent some segments from rotating respect for others.

Another alternative embodiment proposes to bend the first segment with two parallel telescopic arms joined together, in this way the torque is distributed, reducing the effort supported by each one, and since both telescopic arms are joined together, the rotation of the distal segments with respect to the proximal segments that make up each telescopic arm. With this embodiment, cylindrical telescopic segments can be used, which are simpler, cheaper and more reliable than those of rectangular section.

Another proposed embodiment to improve the reach of the articulated arm is the possibility of varying the distance, in the direction of advance, which separates the gripping device from the distal end of the first segment. Said distance can be altered by moving the gripping device longitudinally on the second segment, or by altering the length of the second segment, or by varying the position of the union of the second segment with respect to the first segment, in said direction of advance.

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This displacement will be governed by means of hydraulically, electrically or electronically controlled actuation means.

This new movement of the articulated arm allows it to access two or more adjacent containers, in two or more consecutive collection cycles, without having to move the vehicle, or to be able to grab a container even if the vehicle has not stopped accurately in the optimal position for the collection of said container.

The aforementioned duty cycle that governs the articulated arm includes at least the following positions:

• retracted position, in which no part of said articulated arm protrudes from the galibo of the vehicle, this being the normal position during the movement of the vehicle;

• extended position, in which the articulated arm protrudes from the vehicle's galib and places the gripping device in a vertically coincident position and distanced with a container;

• gripping position, in which the gripping device interferes with the container, and is attached to it securely to allow it to be lifted;

• lifting position, in which the articulated arm lifts the container from the ground; Y

• unloading position, in which the container has been elevated, and its contents can be emptied from the container and deposited inside the vehicle's collection container;

In a first embodiment, the container reaches the unloading position when positioned on top of the vehicle's collection container. In said unloading position a discharge actuator, integrated in said gripping device, can actuate the opening and closing of unloading dampers integrated in the lower part of the containers, producing its emptying.

In an alternative embodiment, the container reaches the unloading position, when it is positioned on the upper side of the vehicle and by means of the controlled rotation of the second articulation, the containers are turned at will on the vehicle waste collection container.

It is also contemplated that the discharge is obtained by the dump of the container for the fall of its contents through its upper opening.

These work cycle positions can be reproduced by the articulated arm, on any one of the sides of the vehicle.

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Additionally, the device may include a mechanism of vertical displacement between the first joint and the vehicle, thus allowing to alter the relative vertical position of said first joint with respect to the vehicle. This alteration allows the movement of the gripping device between the extended position and the gripping position to be a vertical movement, and not a rotation movement, greatly simplifying the drive and control operations necessary to achieve a correct gripping of said container. Said vertical displacement mechanism can be of various types. By way of non-limiting example, it can be a telescopic mechanism installed in the vertical column, a rail installed along the column on which the first pusher joint for example runs through pistons, a scissor-type mechanism, etc.

Said drive means may be any one of the following, or another equivalent, as will be obvious to one skilled in the art:

• motor, servomotor, solenoid, electroiman, linear motor, piston, etc.

Some of said drive means also admit to being driven by electric, pneumatic or hydraulic energy. It is understood that said drive means require an external source of energy, and can be controlled electrically or electronically, for example by a system of switches or remote controls, or by a printed circuit, a programmable logic controller, a computer, or other Electronic device. The actuation means of the segments or joints may include sensors that provide information for the correct electrical or electronic control.

The said hydraulic, electrical or electronic control can be for example the following, or other equivalent solution, as will be obvious to a person skilled in the art:

• a set of switches, switches, levers, valves or other types of remote controls, which allow controlling the electrical and / or hydraulic energy provided to the actuators;

• an electronic device, such as a printed circuit, a programmable logic controller, a computer, or the like, equipped with data inputs and outputs, a memory, and that implements calculation operations, said device being able to be fed with data from sensors, angle and / or distance sensors, and allowing these calculation operations to provide control orders.

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Said electrical or electronic control will include a power supply, and may comprise a means of visualizing data, such as a screen, to inform an operator. It can also comprise means that allow said operator to alter the configuration of the electronic control device, such as a keyboard, buttons, a menu of options, etc. These devices can be local or remote.

The said gripping means can be any one of the following, or another equivalent, as will be obvious to one skilled in the art:

• a clamp or clamp configuration, a stud with retractable fins, a thread, a retractable pin, a fork, etc.

It will be understood that references to geometric positions, such as parallel, perpendicular, tangent, etc. they admit deviations of up to ± 5 ° with respect to the theoretical position defined by said nomenclature.

Other features of the invention will appear in the following detailed description of an example of realization.

Brief description of the figures

The foregoing and other advantages and characteristics will be more fully understood from the following detailed description of an embodiment example with reference to the attached drawings, which should be taken by way of illustration and not limitation, in which:

Fig. 1 shows an axonometry of a waste collection vehicle, with the articulated arm object of this invention disposed between the cabin and the vehicle collection container, the articulated arm being in an extended position, according to a first embodiment;

Fig. 2 shows an axonometry of the articulated arm in an extended position, according to the first embodiment;

Fig. 3a is a section of the vehicle by the articulated arm, being in an extended position, and showing with dashed lines how the articulated arm can be placed vertically, or on the opposite flank of the vehicle, according to the first embodiment;

Fig. 3b is an alternative embodiment to that shown in Fig. 3a, in which a section of the vehicle is shown by the articulated arm, being in an extended position, and showing with dashed lines how the articulated arm can be placed in vertical, or on the opposite flank of the vehicle, and as a vertical displacement mechanism allows to move from the extended position to the gripping position without requiring rotation of the first segment;

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Fig. 4a shows a cross section of the vehicle by the articulated arm, this being in the rounded position;

Fig. 4b shows a cross section of the vehicle by the articulated arm, this being in an extended position;

Fig. 4c shows a cross section of the vehicle by the articulated arm, this being in the grip position;

Fig. 4d shows a cross section of the vehicle by the articulated arm, this being in the lifting position;

Fig. 4e shows a cross section of the vehicle by the articulated arm, this being in the upper unloading position.

Fig. 5 shows an axonometry of the articulated arm in an extended position, according to a second embodiment in which the first segment is formed by two parallel and superimposed cylindrical telescopic arms, and indicating in an discontinuous line an alternative gripping device, schematically illustrated , configured to engage two lugs arranged on opposite sides of the container, and to produce emptying of the container by flipping;

Fig. 6a shows a cross section of the vehicle by the articulated arm, according to the second embodiment, the arm being in a retracted position;

Fig. 6b shows the same view as Fig. 6a, but with the arm in an elevated position relative to the vertical column;

Fig. 6c shows the same view as Fig. 6b, but with the arm in an extended position, showing different angular positions of the arm, including the unloading position, in which the first segment is positioned vertically;

Fig. 7a shows a cross-section of the vehicle along the articulated arm, this vertical being in the upper unloading position, according to an alternative embodiment in which the driving means of the first segment consist of a first piston and a second hydraulic piston arranged symmetrically , each of them connecting a part of the column with a part of the first segment;

Fig. 7b shows the same view as Fig. 7a, the first segment being inclined towards a first flank, thanks to the actuation of the first piston;

Fig. 7c shows the same view as Fig. 7a, the first segment being inclined towards a second flank opposite the first flank, thanks to the actuation of the second piston.

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Detailed description of an example of realization

According to a preferred embodiment shown in Fig. 1, a waste collection vehicle 3 defines an advance direction X and two flanks. Said vehicle 3 has a collection container for the storage and transport of the collected waste, and an articulated arm 1 for grabbing, lifting waste containers, and for unloading its contents inside said collection container.

As shown in Fig. 2, the articulated arm 1 consists, in a first embodiment, of a vertical column 10, fixed on the vehicle in its plane of symmetry. At a distal end of said vertical column 10 is a first articulation 30 with a horizontal axis of rotation in the direction of advance of the vehicle, on which a first segment 20 of the articulated arm 1 is fixed.

Said first articulation can be operated by means of drive 2, such as a hydraulic gearmotor, or by means of pistons and cams, or in a preferred way, shown in Figs. 7a, 7b and 7c, by means of a first piston 2a and a second piston 2b arranged symmetrically, the first piston 2a being responsible for driving the first segment rotation 20 from its vertical position to its maximum folding towards a first flank, and the second piston 2b being responsible for driving said first segment 20 from its vertical position until its maximum dejection towards a second flank opposite the first flank. Said drive means can be controlled hydraulically, electrically or electronically.

An alternative embodiment is shown in Fig. 5 and in Fig. 7a, 7b and 7c, according to which the first joint 30 can alter its vertical position with respect to the vehicle, sliding on said vertical column 10, actuated by drive means 2, in this example, hydraulic pistons 11 controlled hydraulically, electrically or electronically. This allows the entire articulated arm 1 to be displaced vertically, simplifying the gripping and disassembly operations of a container 5 located near the vehicle, allowing the attachment of the container handle 5 with the grip device 60 of the articulated arm 1 to be carried out by a movement vertical, much easier to control than a rotation movement.

Said first segment 20 can be extensible, by means of a telescopic mechanism, and is in a perpendicular position with respect to the direction of advance X, and attached to said vertical column 10 by means of said first articulation 30, which allows it to rotate

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in a plane perpendicular to the direction of advance X, with sufficient freedom of movement to place said first segment 20 vertically, and to fold it laterally towards one or the other flank at least ± 60 °, and preferably at least ± 90 °, or up to more than ± 120 °, as shown in the embodiment of Fig. 3a.

The first extensible segment 20 also allows, during the lifting stage of a container 5, said first segment 20 can regulate its length to ensure that at no time during the rotation movement of the first segment 20 does said container come into contact with the vehicle . Preferably, the extension of the first segment 20 will be regulated so that, in combination with its rotational movement, the container 5 rises vertically. In the case of the containers 5 that need to be placed vertically on the vehicle collection tank, they will rise vertically to exceed the height of the vehicle collection tank, and from that point on their movement will preferably be horizontal.

This first segment 20 can be with a telescopic arm of rectangular section, as shown in Fig. 2, or consist of a first telescopic arm 21, and a second telescopic arm 22 parallel, joined and superimposed, as shown in Fig. 5.

At the distal end of the first segment 20, a second segment 40 is attached, which is arranged in a direction parallel to the forward direction X, and therefore perpendicular to the first segment 20, as shown in Fig. 2 and 5,. The union between the first segment 20 and the second segment 40 lacks articulation that allows altering the angle they form, being fixed at approximately 90 °. This allows the second segment 40 to project overhang with respect to the distal end of the first segment 20, so that with the first segment 20 being in a vertical position, the second segment 40 is partially above the collection container of the vehicle 3.

Attached to said second segment 40 is a gripping device 60, configured to hold containers securely to proceed with its lifting.

In the embodiment shown in the attached figures, the gripping device 60 is a head provided with a lower opening into which a handle firmly attached to the upper face of the container is inserted. Inside the gripping device 60 there is a clamp mechanism that, when operated, retains said handle attached to the container, and allows its safe lifting.

Other alternative examples of realizing said gripping device 60 are possible and known, such as the use of two parallel arms that are coupled to some

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stubs provided on opposite sides of the container, thus allowing its elevation and optionally also its overturning to achieve its emptying (see Fig. 5).

Also known is the holding of containers, especially those of small size, laterally on one of their faces, by means of a gripping device 60 in the form of upwardly oriented attachments to said container by the same lifting movement.

The articulated arm may be provided so that said gripping device 60 can be replaced, or to simultaneously include several different gripping devices 60. This allows said articulated arm 1 to be able to collect different types of containers, and even containers that have different forms of emptying, such as the containers that require their overturning to be emptied, and the containers that require the opening of gates to be activated. lower to produce its emptying.

According to an example of realization, said gripping device 60 is located on the lower face of the second segment 40, so that it can be easily placed on top of a container 5 by means of the actuation of the articulated arm 1. This lower position allows to grip and raising said container 5 by its center of gravity, thus reducing the eccentric loads and the bending and torsoing moments applied on the articulated arm.

To better withstand the torsional stress, the first extensible segment 20 is provided, according to said first embodiment shown in Fig. 2, of rectangular section, and according to said second embodiment shown in Fig. 5, of a double circular section, by means of a first telescopic arm 21 and a second telescopic arm 22 parallel and cylindrical.

In this embodiment, said gripping device 60 consists of an opening in its lower face through which a head can be inserted, provided with projections, arranged in the upper face of a container. Once said head has been introduced, internal clamps or clamps of the gripping device 60 close and securely hold said head, allowing the safe lifting of the container.

In an alternative embodiment, the gripping device consists of two arms that can be located on both sides of the container, and which by means of a fork configuration can be coupled to lateral projections of said container 5 to proceed with its elevation.

To avoid that during the lifting of the container, by rotating the first articulation 30, the gripping device 60 rotates with respect to the vertical, which would produce the

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rotation of the grabbed container 5, and the generation of torsores and unwanted moments, the articulated arm 1 of a second articulation 70 is provided, with an axis of rotation parallel to the axis of the first articulation 30 and to the direction of advance X. This second articulation allows you to enter a rotation contrary to the rotation of the first joint, to counteract its unwanted effects.

Said second articulation affects at least the gripping device 60, so that its location will be, according to an example of embodiment shown in Fig. 2, between said gripping device 60 and said second segment 40.

In the second alternative embodiment shown in Fig. 5, said second joint 70 is between the first and second segments 20 and 40.

Said second joint 70 can be operated, preferably, by means of electrically or electronically controlled actuation means 2. Said control allows the second joint 70 to be operated with a rotation equal to that implemented at each moment to the first joint 30, but in the opposite direction. It also admits that the said control keeps the angular position of said gripping device 60 in relation to the vertical constant at all times, for example by controlling said position by means of rotation or tilt sensors.

According to another alternative embodiment, said second articulation 70 is mechanically connected with the first articulation 30, to reproduce the same rotational movements, but in the opposite direction.

Another possible embodiment, illustrated in Fig. 5 leaves said second joint free, so that the gripping device 60 is oriented by gravity. In this way, the load will remain vertical at all times. In this case, the introduction of a brake mechanism 71 is desirable, which allows said second articulation 70 to be locked in a certain angular position, or that hinders its rotation, to prevent sudden movements or wind blows from causing oscillations of the suspended container 5.

Additionally, the position of the gripping device 60 can vary with respect to the first segment 20, for example by moving in the direction of advance X along the second segment 40. Said displacement can be obtained, for example, by means of rails and a carriage driven by drive means 2.

Another alternative embodiment consists of a spindle arranged inside the second segment 40, mechanically connected to the gripping device 60 through some

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longitudinal openings of said second segment 40, so that the actuation of said spindle produces a longitudinal displacement of the gripping device 60.

Alternatively, the second segment 40 moves in the forward direction X with respect to the first segment 20, varying the junction point between them.

Another alternative with an equivalent result, shown in Fig. 5, consists of a second extensible segment 40, and the gripping device 60 is at its distal end, so that the extension of said second segment 40 causes the device to move away of grip 60 of the first segment 20 in the forward direction X.

This variation of the position of the gripping device 60 allows that although the vehicle is not parked in the optimum location for holding the container, the articulated arm 1 has means to adjust the position of the gripping device 60 in the direction of advance X, and thus get an optimal grip.

The articulated arm 1 has a duty cycle shown by Figs. 4a, 4b, 4c, 4d and 4e, which correspond respectively to the retracted, extended, grip, elevation and discharge positions.

In the retracted position the articulated arm 1 does not protrude from the galibo of the vehicle 3.

In the extended position, the articulated arm 1 extends to position the gripping device 60 in a proximate position and aligned vertically with a coupling head provided on an upper face of a container.

In the gripping position, the articulated arm 1 descends until the gripping device 60 is attached to the head, and proceeds to actuate a mechanism that ensures the union between the head and the gripping device 60.

These two extension and gripping stages can be controlled by a human operator, or be automated, by means of a plurality of sensors that allow the articulated arm 1 to know the exact position of the grab bar of the container 5 with respect to the grabber device 60, to proceed to the correct positioning of the gripping device 60 by means of the actuation of the different actuation means 2 that control the relative position of the different elements that make up the articulated arm 1.

In the lifting position, the articulated arm 1 lifts the container, and transports it to the unloading position by a turn of the first segment 20. During this movement it is controlled that the elevated container 5 does not collide with any element, either of the vehicle or alien to it. This control can be carried out by a human operator, or be automated by a plurality of sensors that, for example,

optically detect obstacles in the path of the arm and the container, or that detect unforeseen forces exerted on the articulated arm 1.

In the unloading position the container 5 is positioned above a portion of the vehicle collection container. With the container 5 in this position, the contents of the container 5 are emptied into said collection container, either causing a dump of said container 5 to achieve its discharge by its upper opening, or by activating the opening of gates arranged on one side of the container 5 by means of an actuator mechanism integrated in the container, and operable by the gripping device 60. Typically said actuator device of the container 5 will be operable through the gripping device of the container.

Once this work cycle is completed, it is repeated in the opposite direction to deposit the emptied container 5 in its original position, and to retract the articulated arm 1.

This entire cycle can be carried out on either side of the vehicle interchangeably.

In an alternative embodiment shown in Fig. 3b, 6a and 6b, it can be seen how the union of the first articulation 30 to the vehicle 3 by means of a vertical displacement mechanism 11 allows a vertical displacement of the entire mobile arm 1, which allows that the gripping device 60 can move from the extended position to the gripping position without having to make any rotation, which would require a more complex adjustment and control. This vertical displacement is short-haul, and only serves to make the coupling between said gripping device 60 and the container 5 in a quick and simple way.

Claims (16)

5 10 fifteen twenty 25 30 1. - Device installed in a vehicle for collecting and lifting containers and unloading their contents, said containers being able to be arranged on opposite flanks of said vehicle (3), which defines a horizontal direction of advance (X), and two flanks and said device comprising an articulated mobile arm assembly (1) that can be operated by means of actuation (2) controlled hydraulically, electrically or electronically, through a duty cycle that includes at least the following positions, retracted, extended, grasping, lifting and unloading, and including said mobile arm assembly (1): • a vertical column (10) attached to the vehicle and arranged substantially centered with respect to the plane of symmetry of said vehicle; • a first segment (20), connected to said vertical column (10) by a first articulation (30); • a gripping device (60) attached to a distal end of the mobile arm (1) and configured to engage a container (5) to allow its elevation; characterized by that • said vertical column (10) is fixed to the vehicle in a non-articulated manner; • said first segment (20) is arranged substantially perpendicular to the direction of advance (X); • the axis of rotation of said first joint (30) is parallel to the direction of advance (X), allowing the movement of the first segment (20) in a transverse plane substantially perpendicular to the direction of advance (X), from a position vertical to a position of lateral folding towards one or the other flank with a freedom of movement of at least ± 60 °; • a second segment (40) is arranged substantially parallel to the direction of advance (X) and attached to a distal end of the first segment (20); • a second joint (70), whose axis is parallel to the direction of advance (X), is arranged to rotate at least the gripping device (60); • said gripping device (60) is configured for gripping containers indifferently located on any one of the two sides of the vehicle; 2. - Device according to revindication 1 characterized in that the freedom of movement of the first segment (20) is at least ± 90 ° with respect to the vertical. 5 10 fifteen twenty 25 30 35 3. - Device according to claim 1 or 2 characterized in that said first segment (20) is extensible. 4. - Device according to claim 3 characterized in that said first segment (20) is formed by two parallel telescopic arms connected between sr 5. - Device according to claim 1, 2, 3 or 4 characterized in that with the articulated arm (1) being in a retracted position, no part of said articulated arm (1) protrudes from the vehicle gauge. 6. - Device according to any one of the preceding claims characterized in that the first segment (20) is connected to the base joint (30) by a central portion, located in the central third of the total length of the first segment (20) retracted . 7. - Device according to any one of the preceding claims characterized in that the second joint (70) is between the second segment (40) and the first segment (20). 8. - Device according to any one of claims 1 to 6 characterized in that the second joint (70) is between the second segment (40) and the gripping device (60). 9. - Device according to any one of the preceding claims characterized in that the second joint (70) is configured to reproduce any angular rotation introduced in the base joint (30), but in the reverse direction, and / or to keep the angular position constant of the gripping device (60) with respect to the vertical. 10. - Device according to any one of the preceding claims characterized in that the distance between said gripping device (60) and the distal end of the first segment, in the forward direction (X), can be altered by the longitudinal displacement of said gripping device on said second segment (40), or by extending said second segment (40), or by varying the position of the union of the second segment with respect to the first segment, in the direction of advance (X). 11. - Device according to any one of the preceding claims characterized in that said work cycle includes at least the retracted, extended, grip, elevation positions for the two sides of the vehicle. 12. - Device according to any one of the preceding claims characterized in that the first articulation (30) can move vertically with respect to the vehicle, by means of a vertical displacement mechanism (11). 13. - Device according to any one of the preceding claims, characterized in that the second segment (40) integrates at least two gripping devices (60) configured to grip different types of containers. 14. - Device according to any one of the preceding claims, characterized in that the gripping device (60) is provided to flip the container (5), causing its contents to be emptied into the vehicle's collection container (3). 15. - Device according to any one of the preceding claims 1 to 13, characterized in that the gripping device (60) is provided to drive the opening of container gates (5) located on its underside, producing the emptying of its contents into the vehicle's collection container (3). 16. - Device according to any one of the preceding claims, characterized in that the actuation device (2) of the first joint (30) consists of a first 10 piston (2a) and a second piston (2b), arranged approximately symmetrically with respect to the plane of symmetry of the vehicle, each joining a point of the fixed column with respect to the first joint (30) with a point of first segment (20) fixed with respect to the first articulation (30), allowing the actuation of the first piston (2a) to regulate the rotation of the first segment (20) between its vertical position and its position of maximum folding towards a flank, and allowing The second piston (2b) regulates the rotation of the first segment (20) between its vertical position and its maximum downward position towards the opposite flank. twenty